From 5c6608fc16627430bcdbaf4917c608e61b7db77c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 四月 2023 10:26:57 +0800
Subject: [PATCH] 初步测试完成
---
Src/application/dw_app.c | 27 +++++++++++++++++----------
1 files changed, 17 insertions(+), 10 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index fa9ff03..9ab3192 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -76,7 +76,7 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}tag_state=NEARPOLL;
static dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -176,11 +176,13 @@
dwt_configcontinuousframemode(124800);
dwt_writetxfctrl(13, 0);
dwt_starttx(DWT_START_TX_IMMEDIATE);
- while(GET_USERKEY)
+ while(GET_USERKEY)
{
IdleTask();
}
- dwt_forcetrxoff();
+ Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
+ Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
+ dwt_initialise(DWT_LOADUCODE);//初始化DW1000
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
@@ -305,6 +307,8 @@
int16_t offset=2700;
extern int16_t g_commap_antdelay;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+u8 flag_uwbrange_ok;
+int32_t uwb_dist;
void NearPoll(void)
{
@@ -424,6 +428,9 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ if(temp_dist!=0x1ffff)
+ {flag_uwbrange_ok = 1;
+ uwb_dist = temp_dist;}
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -574,13 +581,13 @@
}
}
#ifdef USART_INTEGRATE_OUTPUT
- usart_send[0] = 0x55;
- usart_send[1] = 0xAA;
- usart_send[2] = 4;//正常模式
- usart_send[3] = report_num*6+2;//正常模式
- checksum = Checksum_u16(&usart_send[2],report_num*6+2);
- memcpy(&usart_send[4+report_num*6],&checksum,2);
- USART_puts(usart_send,6+report_num*6);
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xAA;
+// usart_send[2] = 4;//正常模式
+// usart_send[3] = report_num*6+2;//正常模式
+// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+// memcpy(&usart_send[4+report_num*6],&checksum,2);
+// USART_puts(usart_send,6+report_num*6);
#endif
for(i=0;i<MAX_NEARBASE_NUM;i++)
--
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