1对4完成

zhyinch

2019-12-24 9a4a74b85489fafa113ea76c31fbbf26feee31b6

1对4完成

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -343,7 +343,8 @@
}
void NearPoll(void)
{
    static u8 mainbase_lost_count=0;
    static u8 mainbase_lost_count=0,flag_finalsend;
    uint32_t temp1,temp2,dw_systime;
    uint32_t frame_len;
    uint32_t final_tx_time;
    u32 start_poll;
@@ -362,15 +363,25 @@
    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

    flag_finalsend=0;
    neartimout_timer=0;
    recbase_num=0;
    timeout=nearbase_num/4+12;
    mainbase_dist=100000;
    mainbase_lost_count++;
            while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
            while(neartimout_timer<timeout)
            {
                    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成功接收或者发生错误
                    {
                        if(flag_finalsend)
                        {
                            dw_systime=dwt_readsystimestamphi32();
                            if(dw_systime>temp1&&dw_systime<temp2)
                            {
                                flag_finalsend=0;
                                result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                            }
                        }
                         if(neartimout_timer>timeout)
                                break;
                    };
@@ -411,8 +422,11 @@
                                        tyncpoll_time=(tagslotpos-1)*slottime;
                                    ////////////////////////////
                                    mainbase_lost_count=0;
                                    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+1300) * UUS_TO_DWT_TIME)) >> 8;
                                    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);
                                    temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                                    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
@@ -421,7 +435,7 @@
                                    tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    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			
                                    //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+1)*4], resp_rx_ts);                                
@@ -429,12 +443,18 @@
                                    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
                                }                                
                            }
                        }            
                        dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
            }
            if(mainbase_lost_count>5)
            {