From 0a7ffb3c159918e1df3e0a2ab59c48e00cc48272 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 02 三月 2023 15:57:30 +0800
Subject: [PATCH] V2.53 修改UWB通讯标志位，适配2.56之后的标签。
---
源码/核心板/Src/application/dw_app.c | 24 ++++++++++++------------
1 files changed, 12 insertions(+), 12 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 294cdb1..2a418c0 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"
@@ -9,7 +9,7 @@
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
@@ -23,7 +23,7 @@
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
-static uint8_t tx_nearresp_msg[80] = {0};
+static uint8_t tx_nearresp_msg[90] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};
static uint8_t tx_near_msg[80] = {0};
@@ -398,7 +398,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -472,7 +472,7 @@
}
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
-extern u8 remotetag_paralen;
+extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -497,7 +497,7 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-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
//dwt_readdiagnostics(&d1);
- if(tagpos[taglist_pos].tagid==tag_id_recv)
+ if(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
{
memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
tagpossend_flag = 1;
@@ -511,7 +511,7 @@
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
- tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
//tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
waittagconfig_reponse=0;
finalsend = 0;
@@ -575,7 +575,7 @@
{
return 1;
}
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
{
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
@@ -611,7 +611,7 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
-
+ userdatasend_flag[taglist_pos] =0;
if(hex_dist>-1000&&hex_dist<200000)
{
g_flag_Taggetdist[taglist_pos]=0;
@@ -732,7 +732,7 @@
{
uint16_t checksum;
case DISCOVERPOLL:
- if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
+ if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
{
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -833,11 +833,11 @@
SyncPoll(sync_seq);
}
break;
- case NEAR_MSG:
+ case POS_MSG:
if(anc_id_recv==dev_id)
{
rx_buffer[TAGSLOTPOS]=taglist_pos;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
ancidlist_num=g_com_map[NEARBASE_NUM];
@@ -887,7 +887,7 @@
UART_PushFrame(usart_send,24);
}
break;
- case NEAR_POLL:
+ case POS_POLL:
// GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
--
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