V1.24基站数量时间参数改到0.7，标签输出数据。6基站互测可以到40HZ--50ms

zhyinch

2020-07-25 239d693f7b7b567f0ee171afa0f3b8324a390403

V1.24基站数量时间参数改到0.7，标签输出数据。6基站互测可以到40HZ--50ms

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.Administrator

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        </Buttons>
        <OriginalItems>
          <Len>583</Len>
@@ -3579,7 +3579,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2362</Len>
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        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3606,9 +3606,9 @@
      <ActiveTab>2</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>20</ColumnNumber>
        <TopLine>473</TopLine>
        <CurrentLine>487</CurrentLine>
        <ColumnNumber>46</ColumnNumber>
        <TopLine>262</TopLine>
        <CurrentLine>350</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3624,9 +3624,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>29</ColumnNumber>
        <ColumnNumber>14</ColumnNumber>
        <TopLine>56</TopLine>
        <CurrentLine>70</CurrentLine>
        <CurrentLine>73</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3642,17 +3642,17 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.h</Name>
        <ColumnNumber>26</ColumnNumber>
        <TopLine>83</TopLine>
        <CurrentLine>99</CurrentLine>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>10</TopLine>
        <CurrentLine>39</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>36</ColumnNumber>
        <TopLine>13</TopLine>
        <ColumnNumber>42</ColumnNumber>
        <TopLine>11</TopLine>
        <CurrentLine>50</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3660,8 +3660,8 @@
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.h</Name>
        <ColumnNumber>22</ColumnNumber>
        <TopLine>25</TopLine>
        <ColumnNumber>25</ColumnNumber>
        <TopLine>12</TopLine>
        <CurrentLine>51</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3679,7 +3679,7 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Spi.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>133</TopLine>
        <TopLine>122</TopLine>
        <CurrentLine>161</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
@@ -3687,9 +3687,9 @@
      </Doc>
      <Doc>
        <Name>..\Src\OnChipDevices\Usart.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>130</TopLine>
        <CurrentLine>146</CurrentLine>
        <ColumnNumber>38</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>6</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3697,8 +3697,8 @@
      <Doc>
        <Name>..\Src\OnChipDevices\Usart.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>7</TopLine>
        <CurrentLine>23</CurrentLine>
        <TopLine>16</TopLine>
        <CurrentLine>33</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -158,40 +158,7 @@
          <Name>-T0</Name>
        </SetRegEntry>
      </TargetDriverDllRegistry>
      <Breakpoint>
        <Bp>
          <Number>0</Number>
          <Type>0</Type>
          <LineNumber>146</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134251730</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>E:\GIT\UWB_SmallModule\婧愮爜\Src\OnChipDevices\Usart.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/OnChipDevices/Usart.c\146</Expression>
        </Bp>
        <Bp>
          <Number>1</Number>
          <Type>0</Type>
          <LineNumber>907</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>0</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>0</BreakIfRCount>
          <Filename>..\Src\application\dw_app.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression></Expression>
        </Bp>
      </Breakpoint>
      <Breakpoint/>
      <WatchWindow1>
        <Ww>
          <count>0</count>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -28,7 +28,7 @@

static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;	
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;	
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -347,7 +347,7 @@
    flag_rxon=1;
    neartimout_timer=0;
    get_newbase=0;
    timeout=ceil((float)nearbase_num*0.4)+3;
    timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
    //timeout=5;
    mainbase_dist=100000;
    mainbase_lost_count++;
@@ -446,7 +446,32 @@
                                    dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                                    dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                                if(temp_dist!=0x1ffff)
                                    {
                                        #ifndef USART_INTEGRATE_OUTPUT
                                        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
                                        if(g_com_map[DEV_ROLE])
                                        {
                                        memcpy(&usart_send[5],&dev_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);		
                                        }else{
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&dev_id,2);	
                                        }											
                                        memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                                        usart_send[13] = battary;
                                        usart_send[14] = button;
                                        checksum = Checksum_u16(&usart_send[2],17);
                                        memcpy(&usart_send[19],&checksum,2);
                                        UART_PushFrame(usart_send,21);
                                        #endif
                                    
                                    //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			
                                    //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                                }
        
                                    
                                }else{
@@ -477,14 +502,20 @@
                                        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
                                        if(g_com_map[DEV_ROLE])
                                        {
                                        memcpy(&usart_send[5],&dev_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);                
                                        }else{
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&dev_id,2);	
                                        }											
                                        memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                                        usart_send[13] = battary;
                                        usart_send[14] = button;
                                        checksum = Checksum_u16(&usart_send[2],17);
                                        memcpy(&usart_send[19],&checksum,2);
                                    //    UART_PushFrame(usart_send,21);
                                        UART_PushFrame(usart_send,21);
                                        #endif

                                    //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -735,7 +766,7 @@

            battary = rx_buffer[BATTARY_IDX];
            button = rx_buffer[BUTTON_IDX];
            frame_seq_nb = rx_buffer[SEQUENCE_IDX];
            frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            if(result==0)
            {
                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接收成功或者出现错误
@@ -837,7 +868,7 @@

            battary = rx_buffer[BATTARY_IDX];
            button = rx_buffer[BUTTON_IDX];
            frame_seq_nb = rx_buffer[SEQUENCE_IDX];
            frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
            if(result==0)
            {
                while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -898,7 +929,7 @@
                #ifndef USART_INTEGRATE_OUTPUT
                    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
                    usart_send[4] = frame_seq_nb2;//数据段长度
                    memcpy(&usart_send[5],&tag_id_recv,2);
                    memcpy(&usart_send[7],&dev_id,2);                
                    memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -36,7 +36,7 @@
#define DFT_RAND_DLY_TIM_MS            1
#define QUIT_SLOT_TIME    5
#define KEEP_TIMES 3

#define SLOT_SCALE 0.7
#define RNG_DELAY_MS 100

/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -67,9 +67,9 @@
        save_com_map_to_flash();
#endif
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x0116;	
    g_com_map[VERSION] = 0x0118;	
    dev_id = g_com_map[DEV_ID];
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*0.4)+3;
    slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
    max_slotpos=g_com_map[COM_INTERVAL]/slottime;
    tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;    
    module_power = g_com_map[POWER];