From 03c3a1878df2cb6a72fdffa393c9e453f6e1b6ac Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 03 十一月 2023 16:40:00 +0800
Subject: [PATCH] 版本v2.11,修改防撞基站剔除机制。
---
Src/application/dw_app.c | 17 +++++++++++++----
1 files changed, 13 insertions(+), 4 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 812ee3f..68fb1ba 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -89,7 +89,7 @@
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
+ DWT_PHRMODE_EXT, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
@@ -835,7 +835,7 @@
exsistbase_list[i]--;
clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
- rtd_init = tag_resprx[i] - poll_tx_ts;
+ rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
rtd_resp = anc_resptx[i] - anc_pollrx[i];
tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;
@@ -851,6 +851,7 @@
extern uint16_t taglist_num;
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t nearbase_taglist_num;
+extern uint8_t uwb_tx[300];
void NearPoll(void)
{
@@ -886,6 +887,8 @@
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
+ if(taglist_num>10)
+ {taglist_num=10;}
nearbase_taglist_num=nearbase_num+taglist_num;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
@@ -909,6 +912,10 @@
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(29+8*nearbase_taglist_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(29+8*nearbase_taglist_num, 0);//设置超宽带发送数据长度
+
+// dwt_writetxdata(280, uwb_tx, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(282, 0);//设置超宽带发送数据长度
+
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<poll_startcount||current_count>poll_startcount+16384)
@@ -933,7 +940,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_taglist_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -1298,7 +1305,8 @@
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
// }
// }
- Dw1000_Init();
+ dwt_forcetrxoff();
+// Dw1000_Init();
error_times = 0;
switch(tag_state)
{
@@ -1333,6 +1341,7 @@
}
userkey_state = !GET_USERKEY;
dwt_forcetrxoff();
+// Dw1000_Init();
dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);
--
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