From b23727c7dab2b34ed778dc6d3918564651843213 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 27 十月 2020 12:54:16 +0800
Subject: [PATCH] V2.4 飞机客户初步调通
---
源码/核心板/Src/application/dw_app.c | 78 ++++++++------------------------------
1 files changed, 17 insertions(+), 61 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 cb75c4a..bed88eb 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"
@@ -9,11 +9,11 @@
static dwt_config_t config = {
2, /* 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. */
- 0, /* Use non-standard SFD (Boolean) */
+ 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. */
@@ -38,7 +38,7 @@
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static double tof;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
@@ -506,7 +506,7 @@
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -551,14 +551,8 @@
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(last_nearbase_num==0)
- {
- get_newbase=1;
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- if(rec_nearbaseid==nearbaseid_list[0])
+
+ if(rec_nearbaseid==mainbase_id)
{
//////////////////////////////////时间同步
temp_sync_timer2=sync_timer;
@@ -593,7 +587,7 @@
rec_nearbasepos=0;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
+ mainbase_dist = temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -611,35 +605,6 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff)
- {
- #ifdef TAG_OUTPUT
- #ifndef USART_INTEGRATE_OUTPUT
- 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
- if(g_com_map[DEV_ROLE])
- {
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,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);
- #endif
- #endif
-
- //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
- }
-
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -767,17 +732,7 @@
}
report_num=0;
- for (i=0;i<last_nearbase_num;i++)
- {
- nearbaseid_list[i]=true_nearbase_idlist[i];
- nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
- }
+
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
@@ -931,7 +886,7 @@
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];
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ if(abs(hex_dist-his_dist[taglist_pos])<1000)
{
tagdist_list[taglist_pos] = hex_dist;
}
@@ -954,7 +909,7 @@
memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
- 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。
+ 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(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
@@ -1222,11 +1177,11 @@
tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- if(rec_nearbase_num>ancidlist_num)
- {
- ancidlist_num=rec_nearbase_num;
- memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
- }
+
+ if(anc_id_recv==dev_id)
+ {
+ Anchor_RecNearPoll(0);
+ }else{
for(i=0;i<rec_nearbase_num;i++)
{
@@ -1234,10 +1189,11 @@
if(tempid==dev_id)
{
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
+ Anchor_RecNearPoll(i+1);
break;
}
}
+ }
//抢占模式
// if(i==rec_nearbase_num)
// {
--
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