From 61445f53207dce2dce3ae11450297aa33908b1e6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 21 十月 2021 11:51:03 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 76 +++++++++++++++++++++++++++++---------
1 files changed, 58 insertions(+), 18 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3742b7d..f3d87f1 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -71,6 +71,7 @@
#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_DIST
enum enumtagstate
{
REGPOLL,
@@ -78,7 +79,7 @@
GETNEARMSG,
NEARPOLL,
SINGLEPOLL,
-}tag_state=SINGLEPOLL;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -246,7 +247,7 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
-int32_t mainbase_dist;
+int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
@@ -493,6 +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. */
@@ -505,7 +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;
@@ -626,12 +628,17 @@
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_id = 0x9724;
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
@@ -668,7 +675,38 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+extern u32 synctimer;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime;
+u16 delaycount;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ 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-10000)
+ {
+ delaytime = temptime-anchor_time;
+
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ delaytime = temptime-anchor_time;
+ return ;
+}
+u16 lpcount;
+void SetLPTimer(u32 anchor_time)
+{
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+}
void NearPoll(void)
{
@@ -789,6 +827,7 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
+ base_mindist = temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -815,7 +854,7 @@
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tagslotpos);
+ 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
{ };}
@@ -828,18 +867,19 @@
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)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- }
- #endif
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+ {
+ mainbase_id = rec_nearbaseid;
+ tag_state = GETNEARMSG;
+ }
+ #endif
+
}
}
}else{
@@ -873,7 +913,7 @@
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>10*tag_frequency)
+ }else if(mainbase_lost_count>5*tag_frequency)
{
tag_state = STARTPOLL;
}
@@ -905,10 +945,10 @@
}
for(i=0;i<nearbase_num;i++)
{
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- }
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ }
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
--
Gitblit v1.9.3