From c5193cf1c2e36894cbb2d7e9cd171b64f81ae8ea Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 25 十月 2021 11:53:26 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 56 +++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 45 insertions(+), 11 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 9e42f29..ddd974b 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -562,7 +562,7 @@
{flag_getresponse=1;}
lastsync_timer=sync_timer;
//offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tagslotpos);
+// SetNextPollTime(tagslotpos);
}
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
@@ -675,7 +675,46 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+extern u32 synctimer;
+u8 pd_i;
+u32 temptime,delaytime;
+u16 delaycount;
+int16_t poll_offsettime=-6900;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ tagslotpos = 0 ;
+ for(pd_i=0;pd_i<tag_frequency;pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ delaytime = temptime-anchor_time+poll_offsettime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ delaytime = temptime-anchor_time+poll_offsettime;
+ return ;
+}
+u16 lpcount,poll_startcount;
+u16 waketopolltimeus = 4000;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+void SetLPTimer(u32 anchor_time)
+{
+ 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;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_anchor_time = anchor_time;
+}
void NearPoll(void)
{
@@ -817,13 +856,7 @@
{sync_timer=0;}
}
ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(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(tagslotpos);
+ SetLPTimer(ancsync_time);
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };}
@@ -886,7 +919,8 @@
{
tag_state = STARTPOLL;
}
-
+ if(mainbase_lost_count!=0)
+ {SetLPTimer(last_anchor_time);}
if(para_update)
{
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
@@ -936,7 +970,7 @@
if(tagslotpos--<2)
tagslotpos=TOTAL_SLOTNUM;
}
- SetNextPollTime(tagslotpos);
+// SetNextPollTime(tagslotpos);
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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