From 5739481744a7d26671190f6f327726e23843dd6d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 02 十一月 2020 15:34:13 +0800
Subject: [PATCH] Merge branch '定位-临近' into 定位临近_工卡
---
Src/application/dw_app.c | 72 +++++++++++++++++++++--------------
1 files changed, 43 insertions(+), 29 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3e5b5dc..c1e0ea2 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 0
+#define RESP_RX_TIMEOUT_UUS 1000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -72,6 +72,7 @@
enum enumtagstate
{
+ REGPOLL,
DISCPOLL,
GETNEARMSG,
NEARPOLL,
@@ -465,7 +466,7 @@
extern u16 bigslot_num;
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
-int16_t offset=4700;
+int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
@@ -537,12 +538,15 @@
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(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(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
if(temp_dist<mindist&&temp_dist!=0)
{
@@ -657,8 +661,8 @@
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+2*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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(21+2*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(21+2*nearbase_num, 0);//设置超宽带发送数据长度
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
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
@@ -747,12 +751,12 @@
//时间同步
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ // current_slotnum=((float)sync_timer/(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(tyncpoll_time);
+// SetNextPollTime(tagslotpos);
}else{
@@ -797,16 +801,7 @@
j=0;
if(exsistbase_list[0]==0)
{
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
-// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
-// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
+// SetNextPollTime(tagslotpos);
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -905,21 +900,32 @@
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
-extern uint8_t module_power;
-uint16_t tag_slotpos;
+extern uint8_t module_power,imu_enable,motor_enable;
+
void Registor_Poll(void)
{
+ static u8 regpoll_count=0;
+ tag_frequency = REGISTER_FREQUENCY;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ regpoll_count++;
+ if(regpoll_count%2)
+ {
+ if(tagslotpos--<2)
+ tagslotpos=TOTAL_SLOTNUM;
+ }
+ SetNextPollTime(tagslotpos);
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);
+ 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[REGP_FREQUENCY_INDEX] = tag_frequency;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
tx_near_msg[REGP_POWER_INDEX] = module_power;
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);
- dwt_writetxdata(13+2*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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
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
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
{
@@ -941,7 +947,7 @@
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- tag_slotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
+ tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
//////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
@@ -955,17 +961,21 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
- ancsync_time=((sync_timer)*1000+tmp_time);
+ ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(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(tyncpoll_time);
-
+ SetNextPollTime(tagslotpos);
+ mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ tag_state = NEARPOLL;
}
}
}
@@ -981,9 +991,13 @@
}
switch(tag_state)
{
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ LED_LG_OFF;
+ break;
case DISCPOLL:
LED_LG_ON;
- //Registor_Poll();
Poll();
LED_LG_OFF;
break;
--
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