From bc6afcc8e1361a5ca81beb4f19d229e0748d4da2 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 31 十月 2020 16:12:01 +0800
Subject: [PATCH] V2.4 固定时间片版本 9标签20HZ测试通过
---
Src/application/dw_app.c | 95 +++++++++++++++++++++++++++++++++++++++++------
1 files changed, 83 insertions(+), 12 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 68993d6..3e5b5dc 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -462,10 +462,10 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 flag_finalsend,flag_getresponse,flag_rxon;
uint16_t current_count,start_count,end_count,lastsync_timer;
-
+extern u16 bigslot_num;
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=2700;
+int16_t offset=4700;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
@@ -535,9 +535,14 @@
tag_succ_times++;
LED0_BLINK;
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+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(temp_dist<mindist&&temp_dist!=0)
{
@@ -575,7 +580,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
- //mainbase_id = 2;
+ //mainbase_id = 0x2;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -622,19 +627,20 @@
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-uint8_t changemainbase_count=0;
+uint8_t changemainbase_count=0,gotosleep_flag;
+uint32_t frame_len;
void NearPoll(void)
{
uint32_t temp1,temp2,dw_systime;
- uint32_t frame_len;
+
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
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);
tag_succ_times = 0;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -645,7 +651,7 @@
motor_state=0;
tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
+ tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
@@ -741,7 +747,7 @@
//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;
+ current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
@@ -899,6 +905,70 @@
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
+extern uint8_t module_power;
+uint16_t tag_slotpos;
+void Registor_Poll(void)
+{
+ 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);
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = tag_frequency;
+ 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[IMU_THRES],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
+ dwt_writetxdata(13+2*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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
+ 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
+ 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
+ {
+ IdleTask();
+
+ };
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ { u16 rec_nearbaseid,rec_nearbasepos;
+
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ tag_slotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
+ //////////////////////////////////时间同步
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+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);
+
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ }
+ }
+}
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -912,7 +982,8 @@
switch(tag_state)
{
case DISCPOLL:
- LED_LG_ON;
+ LED_LG_ON;
+ //Registor_Poll();
Poll();
LED_LG_OFF;
break;
--
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