From b0e6260abb7b73fbc178af119c24b0a73ab2ffc5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 09 一月 2020 08:56:02 +0800
Subject: [PATCH] 华星第一版测试完成，修复标签timeout bug
---
源码/核心板/Src/application/dw_app.c | 40 ++++++++++++++++++++++++++++++++--------
1 files changed, 32 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 1c09a44..ee4639a 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"
@@ -298,7 +298,7 @@
}
tyncpoll_time=(tagslotpos-1)*slottime;
}
- mainbase_id=0;//minid;
+ mainbase_id=minid;
}
u8 FindNearBasePos(u16 baseid)
@@ -310,14 +310,15 @@
return i;
}
}
+u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
void NearAncSelect(void)
{static u16 last_mainbase_id,change_base_count;
int32_t nearbase_mindist=99999, nearbase_minpos;
u8 i;
- for(i=0;i<nearbase_num;i++)
+ for(i=0;i<recbase_num-1;i++)
{
- if(nearbase_mindist<nearbase_distlist[i])
+ if(nearbase_mindist>nearbase_distlist[i])
{
nearbase_mindist=nearbase_distlist[i];
nearbase_minpos=i;
@@ -348,7 +349,7 @@
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,getsync_flag=0,recbase_num,timeout;
+ u8 i,getsync_flag=0,timeout;
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;
@@ -366,7 +367,7 @@
flag_finalsend=0;
neartimout_timer=0;
recbase_num=0;
- timeout=nearbase_num/4+12;
+ timeout=nearbase_num/4+2;
mainbase_dist=100000;
mainbase_lost_count++;
while(neartimout_timer<timeout)
@@ -382,6 +383,7 @@
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ break;
}
}
if(neartimout_timer>timeout)
@@ -437,6 +439,17 @@
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
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb;//数据段长度
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
//result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -445,6 +458,17 @@
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;
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb;//数据段长度
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
//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
@@ -643,13 +667,13 @@
resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(0);//RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-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
memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
- dwt_writetxfctrl(17, 0);//设定发送长度
+ dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据
+ dwt_writetxfctrl(20, 0);//设定发送长度
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
battary = rx_buffer[BATTARY_IDX];
--
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