From 1baabdeaa771233bd719e6eb01dc6828d5c3f9cf Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 11 八月 2023 12:37:59 +0800
Subject: [PATCH] 增加搜索模式减少时间片
---
Src/application/dw_app.c | 57 ++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 48 insertions(+), 9 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 861e053..26c63e5 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -117,7 +117,7 @@
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
+void NextSlotDelayMs(int16_t delayms);
void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
@@ -221,7 +221,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[25];
+u8 usart_send[40];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -491,7 +491,7 @@
int32_t minddist=0x1ffff,minid=-1,temp_dist;
u8 i,j,getsync_flag=0;
u16 mindist_ancid,random_delay_tim,tempval;
-
+ NextSlotDelayMs(-2);
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);
frame_seq_nb++;
@@ -834,12 +834,12 @@
{
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;
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+ 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;
- if(distance>-1000&&distance<100000)
+ if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
}else{
nearbase_distlist[i] = 0x1ffff;
@@ -1271,6 +1271,38 @@
u32 id,error_times=0;
extern float Height;
extern float Altitude;
+void QiyaJizhan_Send(void)
+{
+ GetPressAndHeight();
+ intheight =Altitude*100;
+ nearbase_num = 0;
+ mainbase_id = 0x1234;
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xaa;
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = frame_seq_nb;
+ usart_send[7] = frame_seq_nb++>>8;
+ usart_send[8] = bat_percent;
+ usart_send[9] = tx_near_msg[BUTTON_IDX];
+
+ memcpy(&usart_send[10],&intheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tagslotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = nearbase_num+1;
+ memcpy(&usart_send[17],&mainbase_id,2);
+ memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+ memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+ memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+ memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+ USART_puts(usart_send,27+8*nearbase_num);
+ //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+}
void Tag_App(void)//发送模式(TAG标签)
{
@@ -1290,7 +1322,11 @@
// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
// }
// }
- Dw1000_Init();
+#ifdef QIYA_JIZHAN
+QiyaJizhan_Send();
+#else
+ // Dw1000_Init();
+ dwt_forcetrxoff();
error_times = 0;
switch(tag_state)
{
@@ -1317,17 +1353,20 @@
break;
case NEARPOLL:
NearPoll();
- GetPressAndHeight();
- intheight =Altitude*100;
+ // GetPressAndHeight();
+ // intheight =Altitude*100;
break;
case SINGLEPOLL:
// Poll();
break;
}
+ GetPressAndHeight();
+ intheight =Altitude*100;
userkey_state = !GET_USERKEY;
dwt_forcetrxoff();
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);
+#endif
//dwt_entersleep();
}
--
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