From 8f8f5ae1fd0a007e331ac909b4280e1e109df091 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 29 十月 2021 21:31:28 +0800
Subject: [PATCH] 加速计影响测距
---
Src/application/dw_app.c | 47 +++++++++++++++++++++--------------------------
1 files changed, 21 insertions(+), 26 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ca2fc8c..4eaa1e7 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -81,7 +81,7 @@
SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
- 5, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -624,21 +624,24 @@
// mainbase_id=minid;
// mainbase_id = 0x4;
}
-
+#define TAGET_OFFSETTIME 940
#define MAX_NEARBASE_ANCNUM 11
u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
u8 outrange_times;
extern u32 synctimer;
u32 target_time=100;
u8 pd_i;
-u32 temptime,delaytime,expect_anctime,error_time;
+u32 temptime,delaytime,expect_anctime;
+int32_t error_time;
u16 delaycount;
-int16_t poll_offsettime=-6900;
+int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
void NextPollDelay(u32 anchor_time)
{
- tagslotpos = 0;
- // error_time = anchor_time-expect_anctime;
+ // tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (TAGET_OFFSETTIME-error_time)*0.1;
for(pd_i=0;pd_i<tag_frequency;pd_i++)
{
slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
@@ -646,14 +649,14 @@
if(anchor_time<temptime-5000)
{
current_slotnum = pd_i;
- delaytime = temptime-anchor_time+poll_offsettime;
- // expect_anctime = temptime;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
return ;
}
}
temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
- // expect_anctime = temptime-1000000;
- delaytime = temptime-anchor_time+poll_offsettime;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
return ;
}
u16 lpcount,poll_startcount,last_lpcount;
@@ -677,15 +680,7 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
last_lpcount = lpcount;
}
-void DelayOneSlot(void)
-{
- lpcount+=166;
- if(lpcount>=32768)
- {
- lpcount -=32768;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
-}
+
void NextSlotDelayMs(u16 delayms)
{
current_slotnum++;
@@ -714,7 +709,7 @@
{
u32 start_poll,frame_len;
u8 nearmsg_i=0;
- DelayOneSlot();
+ NextSlotDelayMs(0);
for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
{
nearbase_distlist[nearmsg_i] = 0x1ffff;
@@ -827,7 +822,7 @@
}
}
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
- HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
// for(i=0;i<nearbase_num+1;i++)
// {
// nearbase_distlist[i] = 0x1ffff;
@@ -887,7 +882,7 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], 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]=NEAR_FINAL;
-
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
{
para_update = 1;
@@ -922,7 +917,7 @@
}
}
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+
mainbase_lost_count=0;
flag_finalsend=1;
@@ -986,7 +981,7 @@
{flag_finalsend = 2;}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
if(mainbase_lost_count==0)
{
#ifdef SWITCHBASE_DIST
@@ -1005,7 +1000,7 @@
#endif
}else if(mainbase_lost_count>5*tag_frequency)
{
- // tag_state = STARTPOLL;
+ tag_state = STARTPOLL;
}
if(mainbase_lost_count!=0)
{
@@ -1069,7 +1064,7 @@
tagslotpos=TOTAL_SLOTNUM;
}
//SetNextPollTime(tagslotpos);
- DelayOneSlot();
+ NextSlotDelayMs(1);
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);
--
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