测距成功

zhyinch

2019-11-26 3a5a4a7ac4e8804ea9cc8d20c3f1d1c04ca699a4

测距成功

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -21,7 +21,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_near_msg[32] = {0};
static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;    
static uint32_t status_reg = 0;
@@ -326,8 +326,8 @@
    memcpy(&tx_near_msg[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(sizeof(tx_near_msg), tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设置超宽带发送数据长度
    dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(24, 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

    neartimout_timer=0;
@@ -353,7 +353,6 @@
                                resp_rx_ts = get_rx_timestamp_u64();                                        //获得RESPONSE接收时间T4    
                                recbase_num++;
                                memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                                if(rec_nearbaseid==mainbase_id)
                                {
                                    //时间同步
@@ -378,13 +377,14 @@
                                    dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                                    final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], 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;
                                    dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
                                    dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送数据长度
                                    dwt_writetxdata(28+nearbase_num*4, tx_near_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
                                    result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送            
                                }else{
                                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);                                
                                    memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                                    dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
@@ -599,8 +599,8 @@

            memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//写入发送数据
            dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送长度
            dwt_writetxdata(24, tx_near_msg, 0);//写入发送数据
            dwt_writetxfctrl(24, 0);//设定发送长度
            result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

            battary = rx_buffer[BATTARY_IDX];

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -48,7 +48,7 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
 * frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600