From d8dd7c6e256bc607904ef1c1b1a36471c99db873 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 21 十一月 2023 14:58:09 +0800
Subject: [PATCH] 免布线lora，调试差不多，即将加入自动跳频功能，固提交保存
---
Src/application/dw_app.c | 182 ++++++++++++++++++++++----------------------
1 files changed, 91 insertions(+), 91 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index bce308f..1685534 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -44,23 +44,23 @@
* 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 150
-/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
- * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+///* Delay between frames, in UWB microseconds. See NOTE 4 below. */
+///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+//#define POLL_TX_TO_RESP_RX_DLY_UUS 150
+///* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
+// * frame length of approximately 2.66 ms with above configuration. */
+//#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+///* Receive response timeout. See NOTE 5 below. */
+//#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+////#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+//#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
+///* Receive final timeout. See NOTE 5 below. */
+//#define FINAL_RX_TIMEOUT_UUS 4300
#define SPEED_OF_LIGHT 299702547
@@ -89,80 +89,80 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
-static uint8_t tx_final_msg[60] = {0};
-static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[80] = {0};
+//static uint8_t tx_poll_msg[20] = {0};
+//static uint8_t tx_sync_msg[14] = {0};
+//static uint8_t tx_final_msg[60] = {0};
+//static uint8_t tx_resp_msg[22] = {0};
+// uint8_t tx_near_msg[80] = {0};
-static uint32_t frame_seq_nb = 0;
-static uint32_t status_reg = 0;
-static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
-static uint64_t poll_rx_ts;
-static uint64_t resp_tx_ts;
-static uint64_t final_rx_ts;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
-uint32_t tag_id = 0;
-uint32_t tag_id_recv = 0;
-uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
-double distance, dist_no_bias, dist_cm;
-uint32_t g_UWB_com_interval = 0;
-float dis_after_filter; //当前距离值
-LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
+//static uint32_t frame_seq_nb = 0;
+//static uint32_t status_reg = 0;
+//static uint8_t rx_buffer[100];
+//static uint64_t poll_tx_ts;
+//static uint64_t resp_rx_ts;
+//static uint64_t final_tx_ts;
+//static uint64_t poll_rx_ts;
+//static uint64_t resp_tx_ts;
+//static uint64_t final_rx_ts;
+//int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+//uint32_t tag_id = 0;
+//uint32_t tag_id_recv = 0;
+//uint32_t anc_id_recv = 0;
+//uint8_t random_delay_tim = 0;
+//double distance, dist_no_bias, dist_cm;
+//uint32_t g_UWB_com_interval = 0;
+//float dis_after_filter; //当前距离值
+//LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-static uint64_t get_tx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readtxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_tx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readtxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static uint64_t get_rx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readrxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_rx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readrxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8_t) ts;
- ts >>= 8;
- }
-}
+//static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
+//{
+// int i;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// ts_field[i] = (uint8_t) ts;
+// ts >>= 8;
+// }
+//}
-static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
-}
+//static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
+//{
+// int i;
+// *ts = 0;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// *ts += ts_field[i] << (i * 8);
+// }
+//}
uint32_t uwbid=0;
void Dw1000_Init(void)
{
@@ -195,17 +195,17 @@
{
//g_com_map[DEV_ID] = 0x0b;
//tag_state=DISCPOLL;
- tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
- tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
- tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+// tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+// tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+// tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+// tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
- memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
+// memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
+// memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
+// memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+// memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+// memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
+// memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
--
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