From b6edb254b755b782652684ac6c79b42ef9259192 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 25 五月 2023 16:50:23 +0800
Subject: [PATCH] V2.14
---
Src/application/dw_app.c | 81 +++++++++++++++++++++++++---------------
1 files changed, 51 insertions(+), 30 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index aa689a3..9f0b150 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -471,7 +471,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
-u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+static u8 motor_state,rec_remotepara_state,rec_remotepara[80];
#define SINGLEPOLL_BASENUM 5
@@ -648,9 +648,9 @@
temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
if(anchor_time<temptime-5000)
{
- current_slotnum = pd_i;
+ current_slotnum = pd_i;
delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
- expect_anctime = temptime;
+ expect_anctime = temptime;
return ;
}
}
@@ -668,14 +668,14 @@
NextPollDelay(anchor_time);
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
- poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
if(poll_startcount>=32768)
{
- poll_startcount -=32768;
+ poll_startcount -=32768;
}
if(lpcount>=32768)
{
- lpcount -=32768;
+ lpcount -=32768;
}
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
last_lpcount = lpcount;
@@ -691,11 +691,11 @@
}else{
lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
}
- if(lpcount>=32768)
- {
- lpcount -=32768;
- }
- poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
if(poll_startcount>=32768)
{
poll_startcount -=32768;
@@ -763,6 +763,8 @@
tagpoll_sync_sec = current_slotpos/200;
tagslotpos = current_slotpos%200;
max_slotpos = rec_tagperiod*20;
+ tag_frequency = 10/rec_tagperiod;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
tag_state=NEARPOLL;
}
}else{
@@ -826,7 +828,30 @@
recbase_num=0;
// motor_state=0;
-
+// for(uint8_t i=0;i<nearbase_num+1;i++)
+// {
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xaa;
+// usart_send[2] = 1;//正常模式
+// usart_send[3] = 17;//数据段长度
+// usart_send[4] = frame_seq_nb;//数据段长度
+// memcpy(&usart_send[5],&dev_id,2);
+// if(i==0)
+// {
+// memcpy(&usart_send[7],&mainbase_id,2);
+// }else{
+// memcpy(&usart_send[7],&nearbaseid_list[i-1],2);
+// }
+// memcpy(&usart_send[9],&nearbase_distlist[i],4);
+// usart_send[13] = battary;
+// usart_send[14] = button;
+// usart_send[15] = rec_anc_signalpower[i]>>8;
+// usart_send[16] = rec_anc_signalpower[i];
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+//
+// USART_puts(usart_send,21);
+// }
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
@@ -836,7 +861,7 @@
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
-
+ userkey_state = 0;
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
@@ -850,7 +875,7 @@
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<poll_startcount||current_count>poll_startcount+16384)
{
@@ -953,7 +978,7 @@
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- userkey_state = !GET_USERKEY;
+ // userkey_state = !GET_USERKEY;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
if(temp_dist!=nearbase_distlist[0])
@@ -1084,11 +1109,11 @@
}
if(mainbase_lost_count!=0)
{
-// if(mainbase_lost_count<=tag_frequency*1)
-// {NextSlotDelayMs(0);
-// }else{
-// NextSlotDelayMs(0);
-// }
+ if(mainbase_lost_count<=tag_frequency*1)
+ {NextSlotDelayMs(0);
+ }else{
+ NextSlotDelayMs(0);
+ }
}
if(para_update)
@@ -1144,6 +1169,7 @@
GetNearMsg();
}
}
+
if(pos_nochange)
{
flag_tagnewpos = 0;
@@ -1159,7 +1185,7 @@
{
static u8 regpoll_count=0;
mainbase_lost_count = 0;
- tag_frequency = REGISTER_FREQUENCY;
+ //tag_frequency = REGISTER_FREQUENCY;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
regpoll_count++;
if(regpoll_count%2)
@@ -1251,15 +1277,12 @@
}
error_times = 0;
}
+
void Tag_App(void)//发送模式(TAG标签)
{
static uint8_t diccount = 0,diccount2;
//LED0_ON;
UWBWkWp();
- if(0)
- {
- FZNearPoll();
- }else{
switch(tag_state)
{
case REGPOLL:
@@ -1303,11 +1326,9 @@
case SINGLEPOLL:
// Poll();
break;
- }}
-
- FZNearPoll();
-
+ }
+ FZNearPoll();
dwt_forcetrxoff();
- userkey_state = !GET_USERKEY;
+// userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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