From 9ff25be6f85a1dc8a04470437d6597399a45d11f Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 15 九月 2023 17:08:29 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 64 +++++++++++++++++++++++++++++--
1 files changed, 59 insertions(+), 5 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ef8207f..b994d8b 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,8 +70,15 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+
+//#define _UWB_4G
+
static dwt_config_t config = {
- 5, /* Channel number. */
+#ifdef _UWB_4G
+ 2, /* Channel number. */
+#else
+ 5,
+#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -175,7 +182,6 @@
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
-
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
@@ -338,7 +344,11 @@
{
// exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#else
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#endif
rtd_init = tag_resprx[i] - poll_tx_ts;
rtd_resp = anc_resptx[i] - anc_pollrx[i];
tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
@@ -350,6 +360,35 @@
}
}
+}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
+ memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//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
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+
+ };
+
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
@@ -395,7 +434,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=nearbase_num*SLOT_SCALE+10;
+ timeout=nearbase_num*SLOT_SCALE+50;
end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
@@ -403,6 +442,7 @@
mainbase_lost_count++;
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<end_count||current_count>end_count+15000)
+// while(1)
{
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
@@ -640,7 +680,7 @@
}
}
}
-
+u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -659,6 +699,20 @@
}
delay_us(100);
g_Resttimer=0;
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }else{
+ if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }
NearPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
--
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