From fd498f8f31ff9428fa4c042337ac2fba895d4794 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <zhyinch@gmail.com>
Date: 星期五, 01 十一月 2019 13:29:49 +0800
Subject: [PATCH] 实现10us精度基站与标签时间同步
---
源码/核心板/Src/main.c | 31 +++++++++++--------------------
1 files changed, 11 insertions(+), 20 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 3ed18c7..78ab7a3 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -18,7 +18,8 @@
//SystemInit();
NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
Nvic_Init();
- Systick_Init();
+// Systick_Init();
+ TIM3_Int_Init();
Led_Init();
Beep_Init();
DW_GPIO_Init();
@@ -42,6 +43,7 @@
checksum = Checksum_u16(&hbsend[2],12);
memcpy(&hbsend[14],&checksum,2);
}
+u16 tyncpoll_time;
void Program_Init(void)
{uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
@@ -49,12 +51,17 @@
//deca_sleep(1000);
HeartBeatInit();
dev_id = g_com_map[DEV_ID];
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+// g_com_map[COM_INTERVAL]=10;
if(g_com_map[DEV_ROLE])
{
+ tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
printf("标签ID: %d .\r\n",dev_id);
printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
}else{
+
anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
printf("基站ID: %x .\r\n",dev_id);
printf("基站类型: %c .\r\n",anchor_type+0x41);
@@ -96,24 +103,7 @@
if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
HeatBeat();
}
- if(poll_timer>=g_com_map[COM_INTERVAL]-tag_delaytime)
- {
- poll_timer=0;
- if(g_com_map[ANC_POLL]||g_com_map[DEV_ROLE])
- {
- if(g_com_map[DEV_ROLE]==0)
- {int8_t correction_time;
- correction_time=tag_timer-g_com_map[DEV_ID]*3;
- tag_delaytime=correction_time;
- if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
- {
- tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
- }
- }
- g_start_send_flag=1;
- }
-
- }
+
if(g_com_map[CNT_UPDATE]==1)
{
uint32_t result = 0;
@@ -135,13 +125,14 @@
Device_Init();
Program_Init();
- Dw1000_Init();
+ //Dw1000_Init();
delay_ms(10);
Dw1000_App_Init();
/* Loop forever initiating ranging exchanges. */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
usart_send[0]=0x55;
usart_send[1]=0xAA;
+ UART_PushFrame(hbsend,16);
while(1)
{
IdleTask();
--
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