From c513ae47c722876a69a7b8aea1efb82edaf2fa42 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 26 五月 2021 12:36:57 +0800
Subject: [PATCH] 测试完成
---
Src/application/dw_app.c | 57 +++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 41 insertions(+), 16 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 167813d..b283028 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL SINGLEPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
@@ -78,7 +78,7 @@
GETNEARMSG,
NEARPOLL,
SINGLEPOLL,
-}tag_state=STARTPOLL;
+}tag_state=REGPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -95,7 +95,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[80] = {0};
+ uint8_t tx_near_msg[180] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -472,9 +472,9 @@
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
-#define SINGLEPOLL_BASENUM 10
-uint16_t singlepoll_baseid[SINGLEPOLL_BASENUM]={0x9733,0x9788,0x9798,0x8159,0x9797,0x9790,0x9799,0x9785,0x8169,0x8276};
-int32_t singlepoll_basedist[SINGLEPOLL_BASENUM];
+#define SINGLEPOLL_BASENUM 15
+uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
+int32_t singlepoll_basedist[20];
extern u8 userkey_state;
extern float motor_keeptime;
@@ -496,17 +496,17 @@
for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- nearbase_num = SINGLEPOLL_BASENUM-1;
+ nearbase_num = SINGLEPOLL_BASENUM;
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- intheight+=g_com_map[MAX_REPORT_ANC_NUM];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
@@ -598,17 +598,18 @@
}
else
{
- singlepoll_basedist[singlepoll_i] = 0x1ffff;
+ // singlepoll_basedist[singlepoll_i] = 0x1ffff;
random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
}
}
else
{
- singlepoll_basedist[singlepoll_i] = 0x1ffff;
+ // singlepoll_basedist[singlepoll_i] = 0x1ffff;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
}
+
if(getsync_flag==0)
{
// tagslotpos--;
@@ -697,7 +698,10 @@
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- intheight+=g_com_map[MAX_REPORT_ANC_NUM];
+
+ if(intheight!=0)
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
@@ -776,6 +780,25 @@
para_len = frame_len-22;
memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
}
+ if(!memcmp(&rx_buffer[TAGPOS_INDEX],&dev_id,2))
+ {
+ static u16 last_baoxu,baoxu;
+
+ usart_send[0]=0x55;
+ usart_send[1]=0xaa;
+ usart_send[2] = 0x0e;//正常模式
+ usart_send[3] = 18;//数据段长度
+
+ memcpy(&usart_send[4],&rx_buffer[TAGPOS_INDEX],16);
+ memcpy(&baoxu,&usart_send[6],2);
+ if(last_baoxu!=baoxu)
+ {
+ last_baoxu = baoxu;
+ checksum = Checksum_u16(&usart_send[2],18);
+ memcpy(&usart_send[20],&checksum,2);
+ UART_PushFrame(usart_send,22);
+ }
+ }
dwt_writetxdata(28+nearbase_num*4, tx_near_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
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -934,8 +957,9 @@
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
- dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
{
@@ -1045,5 +1069,6 @@
Poll();
break;
}
+ userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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