From cf92a2fedf94d889b1a39e8557221149ea554a3c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 19 五月 2023 14:30:44 +0800
Subject: [PATCH] v2.8
---
Src/application/dw_ancapp.c | 40 ++++++++++++++++++++++++----------------
1 files changed, 24 insertions(+), 16 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
index 13f9468..2f6554a 100644
--- a/Src/application/dw_ancapp.c
+++ b/Src/application/dw_ancapp.c
@@ -60,7 +60,8 @@
static uint64_t final_rx_ts;
static uint32_t status_reg = 0;
extern uint8_t tx_near_msg[80];
-static uint8_t motor_state,result;
+uint8_t motor_state;
+static u8 result;
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -108,7 +109,7 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+u8 send_buffer[100];
#define FZ_NEARBASENUM_INDEX 10
#define FZ_NEARBASEID_INDEX 11
void FZNearPoll(void)
@@ -118,7 +119,7 @@
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_setrxaftertxdelay(10); //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);
@@ -131,17 +132,19 @@
nearbase_num=next_nearbase_num;
recbase_num=0;
motor_state=0;
- tx_near_msg[GROUP_ID_IDX] = group_id;
- tx_near_msg[BATTARY_IDX] = bat_percent;
+
+ memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
+ send_buffer[GROUP_ID_IDX] = group_id;
+ send_buffer[BATTARY_IDX] = bat_percent;
//tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
- tx_near_msg[FZ_NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,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
+ send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
+ send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(35, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(35, 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
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
para_update = 0;
@@ -151,9 +154,13 @@
neartimout_timer = 0;
recbase_num=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
-
- while(neartimout_timer<timeout)
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {end_count-=32768;}
+ while(current_count<end_count||current_count>end_count+15000)
{
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
{
@@ -172,7 +179,8 @@
}
}
- if(neartimout_timer>timeout)
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
break;
};
if(status_reg==0xffffffff)
--
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