From bbb68fd93739963f866d0c95246191962b6a7f72 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 29 十月 2019 09:49:50 +0800
Subject: [PATCH] 增加基站时间同步，等待systick换成基础定时器
---
源码/核心板/Src/application/dw_app.c | 33 ++++++++++++++++++++++++++++++---
1 files changed, 30 insertions(+), 3 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 00e7907..2491416 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"
@@ -64,6 +64,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+#define SYNC_SEQ_IDX 5
+
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
@@ -80,6 +82,7 @@
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
+#define SYNC 0x04
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
@@ -98,6 +101,7 @@
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
+static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
@@ -268,10 +272,12 @@
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
-
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -291,6 +297,17 @@
{
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
+}
+extern uint8_t g_start_send_flag;
+u8 g_start_sync_flag;
+void SyncPoll(u8 sync_seq)
+{
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ 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);
}
uint16_t g_Resttimer;
uint8_t result;
@@ -442,7 +459,8 @@
}
int8_t correction_time;
-extern uint8_t g_start_send_flag;
+extern uint8_t sync_seq;
+extern uint16_t sync_timer;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -455,7 +473,7 @@
dwt_rxenable(0);//打开接收
/* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//不断查询芯片状态直到接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
{
IdleTask();
g_Resttimer=0;
@@ -608,6 +626,15 @@
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+ }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ SysTick->VAL =00;
+ sync_timer=0;
+ SyncPoll(sync_seq);
+ }
}
}
else
--
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