From 7c93e39f66f75e445ddb224de1ce70ce6e0b0902 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 三月 2024 17:51:12 +0800
Subject: [PATCH] V1.13
---
Src/application/dw_ancapp.c | 23 ++++++++++++++---------
1 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
index 2f5f250..3b0a160 100644
--- a/Src/application/dw_ancapp.c
+++ b/Src/application/dw_ancapp.c
@@ -180,6 +180,7 @@
u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
+u32 value;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
uint8_t motorstate;
@@ -195,10 +196,10 @@
if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
{
random_time = (GetLPTime()%100);
- resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}else{
- resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
}
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
//dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
@@ -229,19 +230,21 @@
// result = dwt_starttx(DWT_START_TX_DELAYED);
//// uwb_timeout = 0;
// if(result == 0)
+// {
uwb_timeout=lp_time;
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
{
- current_time=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_time>end_time+((32768/1000)*3)/*||current_time<end_time+15000*/)
- {
-// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
- break;}
+// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
+// if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
+// {
+//// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
+// break;}
if(lp_time-uwb_timeout>2)
break;
};
- dwt_rxenable(0);
+// }
+// dwt_rxenable(0);
}
@@ -357,6 +360,7 @@
Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
+// printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
Lora_tx_ancnum++;
RX_TIMEOUTs_UWB++;
}
@@ -411,6 +415,7 @@
break;
}
}
+
if(i==rec_nearbase_num)
{
seize_anchor=1; //抢占anchor
--
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