V2.16 手动时间片，时钟同步精度提高到0.1ms

zhyinch

2020-12-18 f27624585858707f761f893d3b4020319c6a3e85

 Src/application/dw_app.c

@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL
#define STARTPOLL  DISCPOLL
enum enumtagstate
{
   REGPOLL,
@@ -552,7 +552,7 @@
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            trygetnearmsg_times=10*tag_frequency;
            mindist=temp_dist;
         }
         if(result==0)
@@ -584,7 +584,7 @@
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
//   mainbase_id = 0x9804;
//   mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -777,7 +777,7 @@
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;                        
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           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]!=0&&temp_dist>0)
                           {
                              mainbase_id = rec_nearbaseid;
                              tag_state = GETNEARMSG;
@@ -852,9 +852,9 @@
//            mainbase_id = true_nearbase_idlist[0];
//            tag_state = GETNEARMSG;
//         }
         if(mainbase_lost_count>10)
         if(mainbase_lost_count>10*tag_frequency)
         {
            tag_state = DISCPOLL;
            tag_state = STARTPOLL;
         }
//            for (i=0;i<nearbase_num;i++)
//   {
@@ -976,6 +976,7 @@
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           if(tagslotpos!=255)
                           tag_state = NEARPOLL;
                        }
                     }
@@ -985,10 +986,13 @@
{
   
   //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();
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
    }
   switch(tag_state)
@@ -1010,13 +1014,11 @@
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      {
         tag_state = DISCPOLL;
         tag_state = STARTPOLL;
      }
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
      case NEARPOLL:	
         NearPoll();
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
   dwt_entersleep();