From 0533236e453d9368d6f66341cafa2a8f2fe81dc3 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 14 三月 2021 13:18:19 +0800
Subject: [PATCH] V2.23 尝试修复红灯常亮BUG
---
Src/application/dw_app.c | 348 ++++++++++++++++++++++++++++-----------------------------
1 files changed, 171 insertions(+), 177 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3e5b5dc..abca4ba 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -50,7 +50,7 @@
#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 0
+#define RESP_RX_TIMEOUT_UUS 1000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -69,13 +69,15 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
+ REGPOLL,
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=DISCPOLL;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -245,7 +247,7 @@
u16 mainbase_id;
int32_t mainbase_dist;
uint8_t trygetnearmsg_times;
-u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
u8 i;
@@ -457,7 +459,7 @@
delay_ms(30);
}
-int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
+int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
u8 anclost_times=0 , mainbase_lost_count=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 flag_finalsend,flag_getresponse,flag_rxon;
@@ -465,7 +467,7 @@
extern u16 bigslot_num;
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
-int16_t offset=4700;
+int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
@@ -537,18 +539,21 @@
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
if(temp_dist<mindist&&temp_dist!=0)
{
memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
+ trygetnearmsg_times=10*tag_frequency;
mindist=temp_dist;
}
if(result==0)
@@ -572,7 +577,7 @@
}
if(getsync_flag==0)
{
- tagslotpos--;
+// tagslotpos--;
if(tagslotpos==0||tagslotpos>max_slotpos)
{
tagslotpos=max_slotpos;
@@ -580,7 +585,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
- //mainbase_id = 0x2;
+// mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -615,50 +620,59 @@
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ // tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//slottime=ceil((nearbase_num+2)*0.3)+1;
//tyncpoll_time=tagslotpos*slottime;
- tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+ //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
tag_state=NEARPOLL;
}
}else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+extern u8 userkey_state;
+extern float motor_keeptime;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
+int32_t salvebase_mindist;
void NearPoll(void)
{
- uint32_t temp1,temp2,dw_systime;
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
+ USART_putc(current_slotnum);
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
-
+ salvebase_mindist=999999;
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
}
- HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
recbase_num=0;
- motor_state=0;
+// motor_state=0;
tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+2*nearbase_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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(21+2*nearbase_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(21+2*nearbase_num, 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
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
@@ -708,21 +722,27 @@
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
+ dwt_forcetrxoff();
+ final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
+ final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+
+ if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
{
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
+ para_update = 1;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
+ para_len = frame_len-22;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
}
- // TIM3->CNT=tmp_time;
-// if(tagslotpos>max_slotpos)
-// tagslotpos=tagslotpos%(max_slotpos+1);
-// tyncpoll_time=(tagslotpos-1)*slottime;
- ////////////////////////////
-
+ 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
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ userkey_state = !GET_USERKEY;
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
mainbase_dist=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
@@ -732,59 +752,55 @@
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
-
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
- }
- flag_getresponse=1;
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
-
+
+
+ flag_getresponse=1;
//时间同步
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1000)
+ {sync_timer=0;}
+ }
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
-
+ SetNextPollTime(tagslotpos);
+ if(result==0)
+ {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };}
+ break;
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
nearbase_distlist[rec_nearbasepos]=temp_dist;
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
- if(rec_nearbasepos + 1 == nearbase_num)
- {
- dwt_forcetrxoff();
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
- final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
-
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
- 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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- if(result==0)
- {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };}
- break;
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ if(temp_dist<salvebase_mindist)
+ {
+ salvebase_mindist = temp_dist;
+ mindist_slavebaseid = rec_nearbaseid;
}
-
+ #ifdef SWITCHBASE_ZHUANDIAN
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
+ {
+ mainbase_id = rec_nearbaseid;
+ tag_state = GETNEARMSG;
+ }
+ #endif
}
}
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(recbase_num!=nearbase_num)
+ if(recbase_num!=nearbase_num+1)
{dwt_rxenable(0); }
// if(flag_rxon)
// {
@@ -793,98 +809,31 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(flag_finalsend!=1)
+ {flag_finalsend = 2;}
+ dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- j=0;
- if(exsistbase_list[0]==0)
- {
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
-// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
-// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
- }
- // tyncpoll_time=0;
- next_nearbase_num=0;
- for(i=0;i<nearbase_num;i++)
- {
- if(exsistbase_list[i]>0)
- {
- next_nearbase_num++;
- true_exsistbase_list[j]=exsistbase_list[i];
- true_nearbase_idlist[j]=nearbaseid_list[i];
- true_nearbase_distlist[j++]=nearbase_distlist[i];
- exsistbase_list[i]--;
- }
- }
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
- for(i=0;i<last_nearbase_num-1;i++)
+ if(mainbase_lost_count==0)
{
- for(j=0;j<last_nearbase_num-1;j++)
+ #ifdef SWITCHBASE_DIST
+ if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
- if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ changemainbase_count++;
+ if(changemainbase_count>tag_frequency*2)
{
- u32 temp_dist,temp_id,temp_exsis;
- temp_dist=true_nearbase_distlist[j];
- temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[i];
- true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
- true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
- true_exsistbase_list[j]=true_exsistbase_list[j+1];
-
- true_nearbase_distlist[j+1]=temp_dist;
- true_nearbase_idlist[j+1]=temp_id;
- true_exsistbase_list[j+1]=temp_exsis;
- }
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ }
+ }else{
+ changemainbase_count = 0;
}
- }
- if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
+ #endif
+ }else if(mainbase_lost_count>10*tag_frequency)
{
- changemainbase_count++;
- }else{
- changemainbase_count = 0;
- }
- if(changemainbase_count>3)
- {
- mainbase_id = true_nearbase_idlist[0];
- tag_state = GETNEARMSG;
- }
- if(mainbase_lost_count>3)
- {
- tag_state = DISCPOLL;
- }
- for (i=0;i<nearbase_num;i++)
- {
- if(nearbaseid_list[i]==0)
- {
- tag_state = GETNEARMSG;
- }
-
- }
-//串口输出距离
-// report_num=0;
-// for (i=0;i<last_nearbase_num;i++)
-// {
-// nearbaseid_list[i]=true_nearbase_idlist[i];
-// nearbase_distlist[i]=true_nearbase_distlist[i];
-// if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
-// {
-// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
-// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
-// report_num++;
-// }
-// }
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
+ tag_state = STARTPOLL;
+ }
+
if(para_update)
{
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
@@ -893,33 +842,60 @@
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
+ if( pack_index == MOTOR_ONTIME_INDEX)
+ {
+ if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
+ }else{
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
+ }
}
}
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ }
+ }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
-extern uint8_t module_power;
-uint16_t tag_slotpos;
+extern uint8_t module_power,imu_enable,motor_enable;
+
void Registor_Poll(void)
{
+ static u8 regpoll_count=0;
+ tag_frequency = REGISTER_FREQUENCY;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ regpoll_count++;
+ if(regpoll_count%2)
+ {
+ if(tagslotpos--<2)
+ tagslotpos=TOTAL_SLOTNUM;
+ }
+ SetNextPollTime(tagslotpos);
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
- tx_near_msg[REGP_FREQUENCY_INDEX] = tag_frequency;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
tx_near_msg[REGP_POWER_INDEX] = module_power;
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(13+2*nearbase_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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
+ 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
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
{
@@ -941,7 +917,7 @@
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- tag_slotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
+ tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
//////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
@@ -955,35 +931,55 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
- ancsync_time=((sync_timer)*1000+tmp_time);
+ ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
-
+// SetNextPollTime(tagslotpos);
+ mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ if(tagslotpos!=255)
+ tag_state = NEARPOLL;
}
}
}
-u32 id;
+u32 id,error_times=0;
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ delay_us(700);
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
+ // Dw1000_Init();
id = dwt_readdevid() ;
+ IdleTask();
+ if(error_times++>20)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
+ error_times = 0;
switch(tag_state)
{
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ LED_LG_OFF;
+ break;
case DISCPOLL:
LED_LG_ON;
- //Registor_Poll();
Poll();
LED_LG_OFF;
break;
@@ -994,13 +990,11 @@
LED_LG_OFF;
if(trygetnearmsg_times==0)
{
- tag_state = DISCPOLL;
+ tag_state = STARTPOLL;
}
break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
+ case NEARPOLL:
NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
}
dwt_entersleep();
--
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