From 1059b6d24c634e20aa8d63412792239b607b4020 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 09 四月 2020 23:07:28 +0800
Subject: [PATCH] 完善标签功能
---
Src/application/dw_app.c | 26 ++++++++++++++++++++------
1 files changed, 20 insertions(+), 6 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ab18984..57cba0a 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -46,7 +46,7 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 800
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 850
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
@@ -65,20 +65,22 @@
#define FINAL_MSG_TS_LEN 4
#define SYNC_SEQ_IDX 5
-
+//common
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
+
//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
//respose
+#define DIST_IDX 10
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -107,7 +109,7 @@
static uint8_t tx_final_msg[24] = {0};
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
+static uint8_t tx_resp_msg[22] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
@@ -277,6 +279,10 @@
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
@@ -387,8 +393,8 @@
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { uint16_t anc_id_recv,current_count;
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ { uint16_t anc_id_recv,current_count,rec_com_interval;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
@@ -412,6 +418,14 @@
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+ if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
/* Compute final message transmission time. See NOTE 9 below. */
final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
--
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