From d1563a9cafa83f7b4932e7885d5cb1b52f108375 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 13 七月 2019 23:02:37 +0800
Subject: [PATCH] 广州200套出货程序，修改通讯时间参数
---
源码/核心板/Src/application/dw_app.c | 45 +++++++++++++++++----------------------------
1 files changed, 17 insertions(+), 28 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 3faa8c0..10ddad8 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"
@@ -46,9 +46,9 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 1500
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 2700
+#define RESP_RX_TIMEOUT_UUS 600
#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
@@ -93,7 +93,7 @@
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[18] = {0};
+static uint8_t tx_poll_msg[19] = {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};
@@ -300,12 +300,14 @@
uint32_t final_tx_time;
u32 start_poll;
u8 i;
-
+ LED0_ON;
g_Resttimer=0;
GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
delay_us(2500);
GPIO_SetBits(SPIx_GPIO, SPIx_CS);
tag_succ_times = 0;
+ tx_poll_msg[BATTARY_IDX] = Get_Battary();
+ tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
for(i=0;i<REPOET_ANC_NUM;i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -323,6 +325,7 @@
{ if(time32_incr - start_poll>20)
NVIC_SystemReset();
UART_CheckReceive();
+ UART_CheckSend();
};
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
@@ -384,24 +387,6 @@
/* Increment frame sequence number after transmission of the final message (modulo 256). */
random_delay_tim = 0;
- #ifdef TAG_OUTPUT
- #ifdef HEX_OUTPUT
- usart_send[2] = frame_seq_nb++;
- //usart_send[6] = tag_id_recv;
- //usart_send[8] = g_com_map[DEV_ID];
- memcpy(&usart_send[3],&dev_id,4);
- memcpy(&usart_send[7],&tx_final_msg[ANCHOR_ID_IDX],4);
- hex_dist = rx_buffer[DIST_IDX];
- memcpy(&usart_send[11],&hex_dist,4);
- usart_send[15] = battary;
- usart_send[16] = button;
- checksum = Checksum_u16(&usart_send[2],19);
- memcpy(&usart_send[21],&checksum,2);
- USART_puts(usart_send,23);
- #else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
- #endif
- #endif
}
else
{
@@ -416,17 +401,16 @@
}
// deca_sleep(10);
}
- if(tag_succ_times!=REPOET_ANC_NUM)
+ dwt_entersleep();
+ if(tag_succ_times<REPOET_ANC_NUM_MIN)
{
random_delay_tim =time32_incr&0x8f+7;
- }else{
- random_delay_tim=0;
+ deca_sleep(random_delay_tim);
}
LED0_BLINK;
- deca_sleep(random_delay_tim);
RTC_SET_ALARM(1);
/* Execute a delay between ranging exchanges. */
- dwt_entersleep();
+
}
void Anchor_App(void)
@@ -495,6 +479,8 @@
dwt_writetxfctrl(sizeof(tx_resp_msg), 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];
+ button = rx_buffer[BUTTON_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
if(result==0)
@@ -566,8 +552,11 @@
// printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
// }
// tag_time_recv[tag_id_recv] = tag_recv_timer;
+ if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
+ {
g_flag_Taggetdist[tag_id_recv-TAG_ID_START]=0;
anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = dist_cm;
+ }
#ifdef HEX_OUTPUT
usart_send[2] = frame_seq_nb++;
//usart_send[6] = tag_id_recv;
@@ -582,7 +571,7 @@
memcpy(&usart_send[21],&checksum,2);
UART_PushFrame(usart_send,23);
#else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
#endif
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
--
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