1对10完成，标签发送间隔有bug

zhyinch

2019-12-30 54ad5910e7916047fd77c866582e100d5360a1f3

1对10完成，标签发送间隔有bug

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -359,8 +359,8 @@
    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(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_writetxdata(13+2*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(13+2*nearbase_num, 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

    flag_finalsend=0;
@@ -379,6 +379,8 @@
                            if(dw_systime>temp1&&dw_systime<temp2)
                            {
                                flag_finalsend=0;
                                dwt_forcetrxoff();
                                dwt_setdelayedtrxtime(final_tx_time);
                                result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送    
                            }
                        }
@@ -394,7 +396,7 @@
                            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
                            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(DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                            dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                            dwt_rxenable(0);//打开接收
                            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;
@@ -425,9 +427,9 @@
                                    flag_finalsend=1;
                                    memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                                    final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                                    temp1=final_tx_time-((200*UUS_TO_DWT_TIME)>>8);
                                    temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
                                    temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                                    dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                                //    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_NEARBASE_IDX], resp_rx_ts);
@@ -443,11 +445,7 @@
                                    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
                                    LED0_BLINK;
                                    if(rec_nearbasepos+1==nearbase_num)
                                    {
                                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                                        break;
                                    }

                                    //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
@@ -645,7 +643,7 @@

            resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
            dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
            dwt_setrxaftertxdelay(0);//RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
            dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

            memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
@@ -659,8 +657,10 @@
            frame_seq_nb = 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
                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
            { };
        }else{
            result++;
        }
            if (status_reg & SYS_STATUS_RXFCG)//接收成功
            {
@@ -728,6 +728,7 @@
{
    u8 send_len,i;
    u16 tempid;
    g_start_sync_flag=0;
    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
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -57,7 +57,7 @@
#ifdef DEBUG_MODE
    g_com_map[DEV_ROLE]=1;
        g_com_map[DEV_ID]=1;
    g_com_map[COM_INTERVAL]=100;
    g_com_map[COM_INTERVAL]=1000;
    g_com_map[MAX_REPORT_ANC_NUM]=3;
        g_com_map[NEARBASE_NUM]=1;  
        g_com_map[NEARBASE_ID1]=2;