From fc057b986700bbb5dd6bac94c40b4093f2751f7f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 31 十月 2020 16:13:51 +0800
Subject: [PATCH] V2.7 固定时间片9标签20HZ测试通过
---
源码/核心板/Src/application/dw_app.c | 61 ++++++++++++++----------------
1 files changed, 29 insertions(+), 32 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 d4c1ad6..919ddf1 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"
@@ -176,14 +176,14 @@
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+void SyncPoll(u8 sync_seq)
{u8 result;
g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
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);
@@ -922,7 +922,6 @@
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
- time_monitor[0] = sync_timer*1000+TIM3->CNT;
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -1025,8 +1024,8 @@
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);//打开接收
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
@@ -1045,13 +1044,13 @@
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
-// dwt_readdiagnostics(&d1);
+ dwt_readdiagnostics(&d1);
// time_monitor[2] = sync_timer*1000+TIM3->CNT;
-// LOS(&d1);
-// time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ LOS(&d1);
+ time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
-
+ GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
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];
@@ -1073,6 +1072,8 @@
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = (rx_power-firstpath_power)*10;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1109,8 +1110,9 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
+extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -1134,7 +1136,7 @@
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
-
+ time_monitor[0] = sync_timer*1000+TIM3->CNT;
g_Resttimer=0;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
@@ -1150,28 +1152,17 @@
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
+ if(anc_id_recv==g_com_map[SYNCBASEID])
+ {
+ synclost_count = 0;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
+ TIM3->CNT = (sync_seq*325%1000)-80;
+ sync_timer = (sync_seq*325/1000);
synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+ if(g_com_map[BASESYNCSEQ]==2)
+ SyncPoll(sync_seq);
+ }
break;
case NEAR_MSG:
if(anc_id_recv==dev_id)
@@ -1190,7 +1181,8 @@
}
break;
- case NEAR_POLL:
+ case NEAR_POLL:
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -1210,6 +1202,7 @@
if(anc_id_recv==dev_id)
{
+ GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
Anchor_RecNearPoll(0);
}else{
@@ -1218,6 +1211,7 @@
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+
seize_anchor=0; //非抢占。已存在列表中
Anchor_RecNearPoll(i+1);
break;
@@ -1232,7 +1226,10 @@
// }
- break;
+ break;
+ default:
+
+ break;
}
}else{
#ifdef DEBUG_INF
--
Gitblit v1.9.3