From 829eef8555abe71bc3eb5b090d690fbe53763ad7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 08 五月 2020 21:32:29 +0800
Subject: [PATCH] 基本测试完成V1.14
---
源码/核心板/Src/application/dw_app.c | 89 +++++++++++++++++++++++++++++++++++---------
1 files changed, 71 insertions(+), 18 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 b6ba39f..4c15ddf 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"
@@ -171,14 +171,23 @@
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
+void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+{u8 result;
+ g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
+ dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
+
+
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
+ if(result==0)
+ {
+ while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
}
uint16_t g_Resttimer;
uint8_t result;
@@ -194,8 +203,8 @@
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num=0;
-u16 nearbaseid_list[10],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
-int32_t mainbase_dist,nearbase_distlist[10],true_nearbase_distlist[MAX_NEARBASE_NUM];
+u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
u8 FindNearBasePos(u16 baseid)
@@ -242,9 +251,10 @@
}
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
+u16 temp_sync_timer1,temp_sync_timer2;
void NearPoll(void)
{
- static u8 mainbase_lost_count=0,flag_finalsend;
+ static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
uint32_t frame_len;
uint32_t final_tx_time;
@@ -255,13 +265,13 @@
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
if(nearbase_num>=MAX_NEARBASE_NUM)
{
nearbase_num = MAX_NEARBASE_NUM-1;
}
//nearbase_num=0;
recbase_num=0;
-
tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -277,9 +287,11 @@
exsistbase_list[i]=0;
flag_finalsend=0;
+ flag_rxon=1;
neartimout_timer=0;
- timeout=nearbase_num/4+2;
+ timeout=ceil((float)nearbase_num/4)+2;
+ //timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
while(neartimout_timer<timeout)
@@ -292,6 +304,7 @@
if(dw_systime>temp1&&dw_systime<temp2)
{
flag_finalsend=0;
+ flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
@@ -328,8 +341,10 @@
if(rec_nearbaseid==nearbaseid_list[0])
{
//////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ temp_sync_timer2=sync_timer;
+ memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ sync_timer=temp_sync_timer1;
exsistbase_list[0]=1;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//
@@ -421,9 +436,22 @@
}
}
}
- }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(flag_rxon)
+ {dwt_rxenable(0);
+ }
+ }
}
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+// if(result==0)
+// {
+// while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+// { };
+// }
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
nearbase_num=recbase_num;
j=0;
if(exsistbase_list[0]==0)
@@ -475,6 +503,7 @@
report_num++;
}
}
+ // printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
#ifdef USART_INTEGRATE_OUTPUT
usart_send[2] = 4;//正常模式
usart_send[3] = report_num*6+2;//正常模式
@@ -757,21 +786,27 @@
anc_report_num++;
#endif
}else{
+ // printf("%d",hex_dist);
misdist_num++;
}
}
}
}else{
+ //printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+uint32_t current_syncid=0xffffffff,synclost_timer;
+extern u8 flag_syncbase;
void Anchor_App(void)
{
u8 send_len,i;
u16 tempid;
+ uint32_t rec_syncid;
+
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
@@ -795,6 +830,7 @@
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==0)
{
+ synclost_timer=0;
tagid_list[taglist_num++]=tag_id_recv;
taglist_pos=taglist_num;
new_tagid=1;
@@ -809,13 +845,30 @@
// Anchor_RecPoll();
// break;
case SYNC:
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- SyncPoll(sync_seq);
- }
+
+ memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+ if(rec_syncid<current_syncid)
+ {
+ current_syncid=rec_syncid;
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ synclost_timer=0;
+ SyncPoll(sync_seq,rec_syncid);
+ }else if(rec_syncid==current_syncid)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ synclost_timer=0;
+ SyncPoll(sync_seq,rec_syncid);
+ }
+
+ }
break;
// case NEAR_MSG:
// if(anc_id_recv==dev_id)
--
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