From 21885e54d3c21ba76586b70ef0b2d81e4e995d2b Mon Sep 17 00:00:00 2001
From: chen <15335560115@163.com>
Date: 星期五, 06 六月 2025 11:55:13 +0800
Subject: [PATCH] 修改final包包体内容版本，刚可以与显示基站测试版本，包序和丢包问题未解决
---
Src/application/dw_app.c | 41 ++++++++++++++++++++++++++++++++---------
1 files changed, 32 insertions(+), 9 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index eec8b80..0ceba39 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -94,7 +94,7 @@
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
uint8_t tx_near_msg[80] = {0};
-
+extern uint8_t tx_near_test_msg[80];
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
@@ -287,6 +287,7 @@
}
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;
+uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];//转换距离数组
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;
@@ -383,6 +384,8 @@
sync_anc_id = ancid;
}
}
+uint32_t frame_seq_nb_final;
+uint8_t resp_num,final_num;
void NearPoll(void)
{
@@ -412,12 +415,18 @@
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ frame_seq_nb_final=frame_seq_nb;//复制该包包序到final包中
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;
+// for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
+//{
+// u16_nearbase_distlist[i] = nearbase_distlist[i];
+//}
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*2);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+// tx_near_msg[ANCHOR_ID_IDX]=tag_frequency
dwt_writetxdata(15+4*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(15+4*nearbase_num, 0);//设置超宽带发送数据长度
@@ -478,6 +487,7 @@
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
+ resp_num++;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
@@ -522,10 +532,11 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ u16_nearbase_distlist[rec_nearbasepos]=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
-
+
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -533,15 +544,27 @@
temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
// dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+
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], 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;
+ //u16_nearbase_distlist[0]=0;//测试
tx_near_msg[GROUP_ID_IDX] = group_id;
-
- 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
+ tx_near_msg[ANCHOR_SEQ]=frame_seq_nb_final;//新增将已测距基站列表放入以及包序
+ tx_near_msg[ANCHOR_NUM]=nearbase_num;
+ memcpy(&tx_near_msg[28+nearbase_num*4],nearbaseid_list,2*nearbase_num);
+ memcpy(&tx_near_msg[28+nearbase_num*4+2*nearbase_num],u16_nearbase_distlist,2*nearbase_num);
+ tx_near_msg[28+nearbase_num*4+4*nearbase_num]=tag_frequency;//hz放入
+ //memcpy(&tx_near_msg[36],tx_near_test_msg,40);//测试
+ // tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;//测试
+// tx_near_msg[GROUP_ID_IDX] = group_id;//测试
+ dwt_writetxdata(28+nearbase_num*4+4*nearbase_num+4, tx_near_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(28+nearbase_num*4+4*nearbase_num+4, 0);//设定发送数据长度
+// dwt_writetxdata(45, tx_near_msg, 0);//将发送数据写入DW1000
+// dwt_writetxfctrl(45, 0);//设定发送数据长度
+ final_num++;
flag_getresponse=1;
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
@@ -596,15 +619,14 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
-
+ u16_nearbase_distlist[rec_nearbasepos]=temp_dist;
if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
{
motor_state=rx_buffer[MOTORSTATE_INDEX];
}
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- 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_writetxdata(28+nearbase_num*4+4*nearbase_num+4, tx_near_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(28+nearbase_num*4+4*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
@@ -675,6 +697,7 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
+ u16_nearbase_distlist[i]=true_nearbase_distlist[i];
if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
--
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