From 95f736655c46ec4974e89c7f0ca6a542cdbf3532 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 26 四月 2022 17:15:25 +0800
Subject: [PATCH] V1.73
---
源码/核心板/Src/application/dw_app.c | 104 +++++++++++++++++++++++++++++++++++++---------------
1 files changed, 74 insertions(+), 30 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 3245d47..5f50042 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -1,6 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+#include "stm32f10x_it.h"
+#include "serial_at_cmd_app.h"
+#define STRX(x) #x
+#define STR(x) STRX(x)
+#define __debug_info__ __FILE__ ":" STR(__LINE__)
+//#define TDFILTER
+#define DBGMSG_OUTPUT
enum enumtagstate
{
DISCPOLL,
@@ -43,14 +49,14 @@
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
+uint8_t random_delay_tim = 0,dbgmsg_len;
double distance, dist_no_bias, dist_cm;
uint32_t g_UWB_com_interval = 0;
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];
-
+char dbgmsg[100];
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -318,7 +324,7 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;
extern u8 usartrec_userdatalen,heartbeat_timer;
- void NearPoll(void)
+void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -384,7 +390,14 @@
flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
- 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
+ if(result!=DWT_SUCCESS&&g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
break;
}
}
@@ -393,15 +406,17 @@
};
if(status_reg==0xffffffff)
{
- NVIC_SystemReset();
+ //NVIC_SystemReset();
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
+ rflosttimer = 0;
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(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
+ rflosttimer = 0;
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
@@ -424,22 +439,22 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+// if(g_com_map[DEV_ROLE]!=0)
+// {
+// sync_timer=temp_sync_timer1;
+////// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+////
//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
+// tmp_time=tmp_time+650;
+// if(tmp_time>999)
+// {
+// tmp_time-=999;
+// sync_timer++;
+// if(sync_timer>=1000)
+// {sync_timer=0;}
+// }
+// TIM3->CNT=tmp_time;
+// }
current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
@@ -533,6 +548,7 @@
if(temp_dist!=0x1ffff )
{
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -560,7 +576,15 @@
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
- {dwt_rxenable(0);
+ {
+ dwt_rxenable(0);
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
}
}
}
@@ -584,9 +608,10 @@
// temp_adc=Get_ADC_Value();
// random_value=random_value|((temp_adc&0x01)<<i);
// }
+ pollsendtimer+=time32_incr%11;
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=NEARPOLL;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -742,7 +767,6 @@
NearPoll();
break;
}
-
SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
@@ -923,7 +947,7 @@
motorstate =0;
}
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
@@ -944,12 +968,18 @@
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
- if(result==0)
+ if(result==DWT_SUCCESS)
{
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(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
}
if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -1035,6 +1065,7 @@
g_Tagdist[taglist_pos]= 0x2ffff;
}
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb2;//数据段长度
@@ -1066,6 +1097,13 @@
}
}else{
//printf("%x/n",status_reg);
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
@@ -1096,7 +1134,7 @@
{ u16 tag_recv_interval;
float temp_tagpos;
-
+ rflosttimer = 0;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
recpoll_len = frame_len;
@@ -1222,9 +1260,15 @@
break;
}
- }else{
+ }
+}else{
+ #ifdef DBGMSG_OUTPUT
+ if((status_reg&SYS_STATUS_ALL_RX_ERR)&&g_com_map[MODBUS_ID1]==1)
+ { dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ }
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-}
}
--
Gitblit v1.9.3