From d74cb2bd098186eef245b733aae6945db77a7431 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 28 七月 2023 18:11:40 +0800
Subject: [PATCH] 修复bug，可以跟dw3000的接收端测距。
---
Src/application/dw_app.c | 40 ++++++++++++----------------------------
1 files changed, 12 insertions(+), 28 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 4655448..ad53ef6 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -33,9 +33,7 @@
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
-#define FRAME_LEN_MAX (127)
-#define FRAME_LEN_MAX_EX (1023)
-#define DWT_DEVICE_ID (0xDECA0302) //!< DW1000 MP device ID
+
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
#define PRE_TIMEOUT 5
@@ -73,7 +71,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
+extern dwt_rxdiag_t rx_diag;
//#define _UWB_4G
//static dwt_config_t config = {
@@ -99,7 +97,7 @@
#else
9,
#endif
- DWT_PLEN_1024, /* Preamble length. Used in TX only. */
+ DWT_PLEN_128, /* Preamble length. Used in TX only. */
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. */
@@ -238,7 +236,7 @@
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
-
+// dwt_configciadiag(1);
// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
// dwt_setpreambledetecttimeout(PRE_TIMEOUT);
@@ -547,16 +545,17 @@
{
NVIC_SystemReset();
}
- if (status_reg & SYS_STATUS_RXFCG_BIT_MASK)//如果成功接收
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG_BIT_MASK | SYS_STATUS_TXFRS_BIT_MASK);//清楚寄存器标志位
+ 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) & FRAME_LEN_MAX_EX; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
test2 = dwt_readcarrierintegrator();
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
- {
+ {
+// dwt_readdiagnostics(&rx_diag);
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
@@ -648,7 +647,7 @@
}
}
}else{
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
{dwt_rxenable(0);
}
@@ -656,7 +655,7 @@
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
CalculateDists();
j = 0;
next_nearbase_num = 0;
@@ -707,7 +706,7 @@
exsistbase_list[i] = true_exsistbase_list[i];
}
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS_BIT_MASK |SYS_STATUS_RXFCG_BIT_MASK);
+ 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);
if(para_update==1)
@@ -778,22 +777,7 @@
iderror_count=0;
-// delay_us(100);
-// g_Resttimer=0;
-// if(freqlost_count>FREQ_LOST_TIME)
-// {
-// if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
-// {
-// regpoll_count = 0;
-// Registor_Poll();
-// }
-// }else{
-// if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
-// {
-// regpoll_count = 0;
-// Registor_Poll();
-// }
-// }
+
NearPoll();
dwt_restoreconfig();
dwt_configuresleep(DWT_CONFIG, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN);
--
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