From 45da36f7caa39b25567ca51e56b4d547b1e9109c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 14 八月 2023 15:05:32 +0800
Subject: [PATCH] 修改增加注册报文2模式，立即应答注册报文
---
Src/application/dw_app.c | 52 ++++++++++++++++++++++++++++++++--------------------
1 files changed, 32 insertions(+), 20 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ac8e732..881f098 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
@@ -117,8 +117,9 @@
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);
+void Registor_Poll(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -221,7 +222,7 @@
}
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)
@@ -247,7 +248,7 @@
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
-uint8_t trygetnearmsg_times;
+uint8_t trygetnearmsg_times,try_reg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
@@ -491,7 +492,7 @@
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++;
@@ -609,10 +610,11 @@
}
if(minddist!=0x1ffff&&minddist!=0)
{
- trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
- mainbase_id = mindist_ancid;
- GetNearMsg();
+ try_reg_times = 0;
+ tag_state = REGPOLL;
+ mainbase_id = mindist_ancid;
+ Registor_Poll();
+ //GetNearMsg();
}
if(getsync_flag==0)
@@ -834,12 +836,12 @@
{
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;
@@ -1202,9 +1204,10 @@
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
- tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
@@ -1264,7 +1267,11 @@
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
if(tagslotpos!=255)
- tag_state = DISCPOLL;
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ }
}
}
}
@@ -1325,13 +1332,18 @@
#ifdef QIYA_JIZHAN
QiyaJizhan_Send();
#else
- Dw1000_Init();
+ // Dw1000_Init();
+ dwt_forcetrxoff();
error_times = 0;
switch(tag_state)
{
case REGPOLL:
LED_LG_ON;
- Registor_Poll();
+ Registor_Poll();
+ if(try_reg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
LED_LG_OFF;
// GetPressAndHeight();
break;
@@ -1341,19 +1353,19 @@
LED_LG_OFF;
break;
case GETNEARMSG:
- trygetnearmsg_times++;
+
LED_LG_ON;
GetNearMsg();
LED_LG_OFF;
- if(trygetnearmsg_times>5)
+ if(trygetnearmsg_times++>5)
{
tag_state = STARTPOLL;
}
break;
case NEARPOLL:
NearPoll();
- GetPressAndHeight();
- intheight =Altitude*100;
+ // GetPressAndHeight();
+ // intheight =Altitude*100;
break;
case SINGLEPOLL:
// Poll();
--
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