From 1560ba22c98a3ddb13710d3592e20eeea8af7616 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 04 四月 2020 20:19:40 +0800
Subject: [PATCH] 测距快完成，有bug，DW无法测距
---
Src/application/dw_app.c | 28 +++++++++++++++++++++-------
1 files changed, 21 insertions(+), 7 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 646250a..d1ffd22 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -319,7 +319,7 @@
uint16_t checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-uint16_t tmp_time;
+uint16_t tmp_time,sync_count;
uint32_t time32_incr;uint32_t frame_len;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -329,7 +329,8 @@
uint8_t i,getsync_flag=0;
//LED0_ON;
//dwt_forcetrxoff();
- while (DWT_DEVICE_ID != id) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
{
id = dwt_readdevid() ;
}
@@ -366,7 +367,7 @@
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
if(status_reg==0xffffffff)
{
- NVIC_SystemReset();
+ // NVIC_SystemReset();
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
@@ -402,6 +403,19 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
+ sync_count=(sync_timer*1000+tmp_time)/LPTIMER_LSB;
+ __HAL_LPTIM_CNT_SET(&hlptim1, sync_count);
+ for(i=0;i<100;i++)
+ {
+ lastpoll_count = slot_startcount+i*interval_count;
+ if(lastpoll_count>sync_count)
+ {
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
+ break;
+ }
+ }
+
+
// TIM3->CNT=tmp_time;
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
@@ -473,10 +487,10 @@
// deca_sleep(10);
}
dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
+// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+// {
+// //poll_timer +=time32_incr&0x7+3;
+// }
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
/* Execute a delay between ranging exchanges. */
--
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