From 6a87d5e15c325c041e69ef077546f0822a4ee956 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 27 十二月 2023 18:05:00 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 48 ++++--------------------------------------------
1 files changed, 4 insertions(+), 44 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 339297e..415aad9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -401,6 +401,8 @@
u16 numceshi;
u16 rec_nearbaseid,rec_nearbasepos;
extern u16 poll_startcount;
+u16 Poll_30s_id[200],Poll_30s_dist[200];
+u8 Poll_30s_num;
void NearPoll(void)
{
@@ -467,31 +469,6 @@
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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
{
-// if(flag_finalsend&&flag_ancreadpara)
-// {
-// dw_systime=dwt_readsystimestamphi32();
-// if(dw_systime>temp1&&dw_systime<temp2)
-// {
-//
-// dwt_forcetrxoff();
-// flag_rxon=0;
-// if(flag_ancreadpara) //只有在读取参数的时候需要回复
-// {
-// u16 calCRC;
-// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
-// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
-// calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
-// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
-// dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
-// dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
-//
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-// }
-// flag_finalsend=0;
-// break;
-// }
-// }
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
if(current_count>=end_count&¤t_count<end_count+15000)
break;
@@ -517,6 +494,7 @@
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+ freqlost_count = 0;
// TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
// if(rec_nearbaseid==0x9002)
// {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
@@ -560,25 +538,7 @@
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
-
- mainbase_lost_count=0;
- flag_finalsend=1;
- memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
- temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
- temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
- // dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
- tx_near_msg[GROUP_ID_IDX] = group_id;
-
- dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
- flag_getresponse=1;
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
--
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