From 1ee47e9f40e3a7c1681d61a89a9367c80a561a0f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 04 三月 2021 10:35:31 +0800
Subject: [PATCH] V1.41 修改到ch3，preamble 改成64
---
源码/核心板/Src/application/dw_app.c | 39 +++++++++++++++++++++++++++++++--------
1 files changed, 31 insertions(+), 8 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 52f2990..28fa6e4 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"
@@ -28,7 +28,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+//#define DEBUG_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -90,16 +90,16 @@
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
- 2, /* Channel number. */
+ 3, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ DWT_PLEN_64, /* 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. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
@@ -361,6 +361,9 @@
* set by dwt_setrxaftertxdelay() has elapsed. */
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
start_poll = time32_incr;
+ #ifdef DEBUG_OUTPUT
+ printf("P包发送,基站ID: %d .\r\n",i);
+ #endif
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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(time32_incr - start_poll>20)
@@ -439,16 +442,20 @@
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ #ifdef DEBUG_OUTPUT
+ printf("F包发送,基站ID: %d .\r\n",i);
+ #endif
+
tag_succ_times++;
LED0_BLINK;
-
+ g_Resttimer=0;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
if(hex_dist2!=0xffff)
{
g_Tagdist[anc_id_recv]= hex_dist2;
g_flag_Taggetdist[anc_id_recv]=0;
-// g_Resttimer=0;
+
if(!g_com_map[MODBUS_MODE])
{
hex_dist2 = hex_dist2;
@@ -488,6 +495,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("R包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
@@ -508,6 +518,7 @@
#define TDFILTER
//#define CHECK_UID
extern uint8_t UID_ERROR;
+extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
@@ -584,6 +595,9 @@
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
+ #ifdef DEBUG_OUTPUT
+ printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
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
@@ -643,13 +657,16 @@
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
/*--------------------------以下为非测距逻辑------------------------*/
+ #ifdef DEBUG_OUTPUT
+ printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
-// g_Resttimer=0;
+ g_Resttimer=0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<15000||misdist_num[tag_id_recv-TAG_ID_START]>4)
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
{
int32_t filter_dist;
misdist_num[tag_id_recv-TAG_ID_START]=0;
@@ -695,6 +712,9 @@
}
}else{
/* Clear RX error events in the DW1000 status register. */
+ #ifdef DEBUG_OUTPUT
+ printf("F包失败错误信息: %x .\r\n",status_reg);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
@@ -710,6 +730,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("P包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
--
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