From 2eeb6bd4fbcb8fc684f022f411b49bffb45671f1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 22 十月 2021 18:19:00 +0800
Subject: [PATCH] 测试完成
---
Src/application/dw_app.c | 112 +++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 87 insertions(+), 25 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 1511b31..3f31a60 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 1000
+#define RESP_RX_TIMEOUT_UUS 2500
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -69,8 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
-//#define SWITCHBASE_ZHUANDIAN
+#define STARTPOLL GETNEARMSG//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
@@ -78,10 +78,10 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
- SINGLEPOLL,
+ SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -494,6 +494,7 @@
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
frame_seq_nb++;
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -506,7 +507,7 @@
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
@@ -627,12 +628,18 @@
void GetNearMsg(void)
{
u32 start_poll,frame_len;
-
-//mainbase_id = 0x9724;
+ u8 nearmsg_i=0;
+ for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
+ {
+ nearbase_distlist[nearmsg_i] = 0x1ffff;
+ }
+ mainbase_lost_count = 0;
+mainbase_id = 0x8158;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+
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);
dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -669,7 +676,47 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+extern u32 synctimer;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime;
+u16 delaycount;
+int16_t poll_offsettime=-6900;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ tagslotpos = 0 ;
+ for(pd_i=0;pd_i<tag_frequency;pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ delaytime = temptime-anchor_time+poll_offsettime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ delaytime = temptime-anchor_time+poll_offsettime;
+ return ;
+}
+u16 lpcount,poll_startcount;
+u16 waketopolltimeus = 4000;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+void SetLPTimer(u32 anchor_time)
+{
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_anchor_time = anchor_time;
+}
void NearPoll(void)
{
@@ -678,6 +725,7 @@
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);
@@ -712,8 +760,17 @@
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(28+6*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(28+6*nearbase_num, 0);//设置超宽带发送数据长度
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<poll_startcount||current_count>poll_startcount+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<poll_startcount-300)
+ {
+ break;
+ }
+ }
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
-
+ HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
// for(i=0;i<nearbase_num+1;i++)
// {
// nearbase_distlist[i] = 0x1ffff;
@@ -811,16 +868,17 @@
{sync_timer=0;}
}
ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- 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(tagslotpos);
+// last_slotnum=current_slotnum;
+// 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;
+ SetLPTimer(ancsync_time);
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{
@@ -830,14 +888,14 @@
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
{
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)
- {
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+ {
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
}
@@ -856,6 +914,7 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
if(flag_finalsend!=1)
{flag_finalsend = 2;}
dwt_forcetrxoff();
@@ -876,10 +935,12 @@
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>10*tag_frequency)
+ }else if(mainbase_lost_count>5*tag_frequency)
{
tag_state = STARTPOLL;
- }
+ }
+ if(mainbase_lost_count!=0)
+ {SetLPTimer(last_anchor_time);}
if(para_update)
{
@@ -1008,10 +1069,11 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- GetPressAndHeight();
- intheight = Height*100;
+ // GetPressAndHeight();
+ // intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
+ HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
while (DWT_DEVICE_ID != id)
{
// Dw1000_Init();
--
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