From a5e16e925923fa444276ca51f0e7c0cbbe07a96c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 27 五月 2023 15:51:54 +0800
Subject: [PATCH] V1.58 香港机场测试，有BUG
---
Src/application/dw_app.c | 78 ++++++++++++++++++--------------------
1 files changed, 37 insertions(+), 41 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 42dec63..7c6eb1f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -73,14 +73,14 @@
static dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
@@ -331,10 +331,10 @@
}
void CalculateDists(void)
{
- for(int i=0;i<11;i++)
+ for(int i=0;i<MAX_NEARBASE_NUM;i++)
{
//rec_anc_signalpower[i] = exsistbase_list[i];
- if(exsistbase_list[i]>0)
+ if(exsistbase_list[i]==KEEP_TIMES)
{
// exsistbase_list[i]--;
@@ -346,7 +346,7 @@
if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
}else{
- nearbase_distlist[i] = 0x1ffff;
+ // nearbase_distlist[i] = 0x1ffff;
}
}
@@ -362,16 +362,16 @@
u32 start_poll;
u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
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(10000);
+ dwt_setrxtimeout(0);
tag_succ_times = 0;
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ if(nearbase_num>=MAX_NEARBASE_NUM)
{
- next_nearbase_num = MAX_NEARBASE_NUM-1;
+ nearbase_num = MAX_NEARBASE_NUM-1;
}
- HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
- last_nearbase_num=next_nearbase_num;
- nearbase_num=next_nearbase_num;
+// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+// last_nearbase_num=next_nearbase_num;
+// nearbase_num=next_nearbase_num;
recbase_num=0;
// motor_state=0;
for(uint8_t i=0;i<nearbase_num;i++)
@@ -399,8 +399,8 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=nearbase_num*SLOT_SCALE+4;
- end_count=start_count+(timeout<<5);
+ timeout=nearbase_num*SLOT_SCALE+10;
+ end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
mainbase_dist=100000;
@@ -411,7 +411,7 @@
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)
+ if(flag_finalsend&&flag_ancreadpara)
{
dw_systime=dwt_readsystimestamphi32();
if(dw_systime>temp1&&dw_systime<temp2)
@@ -428,9 +428,10 @@
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
}
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
flag_finalsend=0;
break;
}
@@ -500,8 +501,7 @@
////////////////////////////
rec_nearbasepos=0;
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
+
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
@@ -527,13 +527,13 @@
//时间同步
- ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// ancsync_time=((sync_timer)*1000+tmp_time);
+// last_slotnum=current_slotnum;
+// current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+// if(current_slotnum==last_slotnum-1)
+// {flag_getresponse=1;}
+// lastsync_timer=sync_timer;
+// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
// SetNextPollTime(tyncpoll_time);
// if(rec_remotepara_state==1)
// {
@@ -550,7 +550,7 @@
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]);
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
+ if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
{
get_newbase=1;
nearbase_num++;
@@ -559,8 +559,7 @@
}
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
+
if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
{
@@ -585,24 +584,24 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
- if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
- {motor_state=0; }
+ dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- // tyncpoll_time=0;
- next_nearbase_num=0;
+ CalculateDists();
j = 0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
+ next_nearbase_num = 0;
+ for(i=0;i<nearbase_num;i++)
{
if(exsistbase_list[i]>0)
- {
+ {
+ exsistbase_list[i]--;
next_nearbase_num++;
true_exsistbase_list[j]=exsistbase_list[i];
true_nearbase_idlist[j]=nearbaseid_list[i];
true_nearbase_distlist[j++]=nearbase_distlist[i];
- exsistbase_list[i]--;
+
}
}
+ nearbase_num = next_nearbase_num;
if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
{
last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
@@ -638,6 +637,7 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
+ exsistbase_list[i] = true_exsistbase_list[i];
}
// #ifdef USART_INTEGRATE_OUTPUT
// usart_send[0] = 0x55;
@@ -649,13 +649,9 @@
// USART_puts(usart_send,6+report_num*6);
// #endif
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
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);
- CalculateDists();
+
if(para_update==1)
{
uint16_t calCRC;
--
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