From 9a4a74b85489fafa113ea76c31fbbf26feee31b6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 24 十二月 2019 16:07:33 +0800
Subject: [PATCH] 1对4完成
---
源码/核心板/Src/application/dw_app.c | 28 ++++++++++++++++++++++++----
1 files changed, 24 insertions(+), 4 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 d88e469..6d8b449 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"
@@ -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)
{
--
Gitblit v1.9.3