From da6d7e68ec3d303e78e83a1adf17f638a0d49269 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 十二月 2023 15:45:30 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 924 +++++++++++++++++++++++++++++----------------------------
1 files changed, 472 insertions(+), 452 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index bce308f..339297e 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -56,7 +56,7 @@
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+#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. */
@@ -113,7 +113,7 @@
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
-
+float range_lost_time = 0;
static uint64_t get_tx_timestamp_u64(void)
@@ -163,7 +163,7 @@
*ts += ts_field[i] << (i * 8);
}
}
-uint32_t uwbid=0;
+
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -177,16 +177,18 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
/* Apply default antenna delay value. See NOTE 1 below. */
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_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
-// dwt_rxenable(0);//打开接收
-// uwbid=dwt_readdevid();
+// dwt_configcontinuousframemode(12480);
+// dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(13, 0);//设置超宽带发送数据长度
+// dwt_starttx(DWT_START_TX_IMMEDIATE);//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(1)
+//{}
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
@@ -218,7 +220,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[100];
+u8 usart_send[25];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -226,231 +228,245 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-//extern uint8_t g_start_send_flag;
+extern uint8_t g_start_send_flag;
-//uint16_t g_Resttimer;
-//uint8_t result;
-//u8 tag_succ_times=0;
-//int32_t hex_dist;
-//u16 checksum;
-//int8_t tag_delaytime;
-//extern uint16_t sync_timer;
-//u16 tmp_time;
-//int32_t temp_dist;
-//u16 tagslotpos;
+uint16_t g_Resttimer;
+uint8_t result;
+u8 tag_succ_times=0;
+int32_t hex_dist;
+u16 checksum;
+int8_t tag_delaytime;
+extern uint16_t sync_timer;
+u16 tmp_time;
+int32_t temp_dist;
+u16 tagslotpos;
-//u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
-//u16 ancid_list[TAG_NUM_IN_SYS];
-//u8 nearbase_num;
-//u16 mainbase_id;
-//int32_t mainbase_dist;
-//uint8_t trygetnearmsg_times;
-//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
-//u8 FindNearBasePos(u16 baseid)
-//{
-// u8 i;
-// for(i=0;i<nearbase_num;i++)
-// {
-// if(baseid==nearbaseid_list[i])
-// return i;
-// }
-//}
-//u8 recbase_num=0;
-//#define CHANGE_BASE_THRESHOLD 5
-//uint8_t GetRandomValue(void)
-//{
-// uint8_t random_value=0,temp_adc,i;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
-// return random_value;
-//}
-//u8 GetRandomSlotPos(uint32_t emptyslot)
-//{
-// u8 i,temp_value;
-// temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
-// for(i=temp_value%32;i<max_slotpos;i++)
-// {
-// if(((emptyslot>>i)&0x1)==0)
-// {
-// return i;
-// }
-// }
-//
-// for(i=1;i<max_slotpos;i++)
-// {
-// if(((emptyslot>>i)&0x1)==0)
-// {
-// return i;
-// }
-// }
-//return max_slotpos-1;
-//}
+u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
+u16 ancid_list[TAG_NUM_IN_SYS];
+u8 nearbase_num;
+u16 mainbase_id;
+int32_t mainbase_dist;
+uint8_t trygetnearmsg_times;
+u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+u8 FindNearBasePos(u16 baseid)
+{
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+}
+u8 recbase_num=0;
+#define CHANGE_BASE_THRESHOLD 5
+uint8_t GetRandomValue(void)
+{
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0;i<8;i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
+}
+u8 GetRandomSlotPos(uint32_t emptyslot)
+{
+ u8 i,temp_value;
+ temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
+ for(i=temp_value%32;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+return max_slotpos-1;
+}
-//int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
-//u8 anclost_times=0 , mainbase_lost_count=0;
-//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;
+int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
+u8 anclost_times=0 , mainbase_lost_count=0;
+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;
-//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;
-//u8 current_freq,rec_freq;
-//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
-//extern u16 last_lpcount;
-//float freqlost_count = 0;
-//void TagFreqProcess(u8 freq)
-//{
-// if(freq>MAX_ANCFREQ||freq==0)
-// {
-// return;
-// }
-// if(freq==tag_frequency||freq>tag_frequency)
-// {
-// tag_frequency = freq;
-// freqlost_count = 0;
-// }
-//}
-//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
-//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
+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;
+u8 current_freq,rec_freq;
+u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+extern u16 last_lpcount;
+float freqlost_count = 0;
+void TagFreqProcess(u8 freq)
+{
+ if(freq>MAX_ANCFREQ||freq==0)
+ {
+ return;
+ }
+ if(freq==tag_frequency||freq>tag_frequency)
+ {
+ tag_frequency = freq;
+ freqlost_count = 0;
+ }
+}
+#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
+#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
-//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
-//float clockOffsetRatio;
-//double rtd_init, rtd_resp;
-//double tof,distance;
-//extern int32_t dwt_readcarrierintegrator(void) ;
-//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
-//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
-//int16_t anc_distoffset[MAX_NEARBASE_NUM];
-//int32_t test2;
-//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
-//uint8_t get_newdist,notenoughdist_count;
-//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
-//{
-// memcpy(&anc_pollrx[i],pollrx,4);
-// memcpy(&anc_resptx[i],resptx,4);
-// memcpy(&tag_resprx[i],&resprx,4);
-// memcpy(&anc_distoffset[i],distoffset,2);
-// anc_clockoffset[i] = test2;
-//}
-//void CalculateDists(void) //计算距离
-//{
-// for(int i=0;i<MAX_NEARBASE_NUM;i++)
-// {
-// //rec_anc_signalpower[i] = exsistbase_list[i];
-// if(exsistbase_list[i]==KEEP_TIMES)
-// {
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
+u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+float clockOffsetRatio;
+double rtd_init, rtd_resp;
+double tof,distance;
+extern int32_t dwt_readcarrierintegrator(void) ;
+uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
+int32_t anc_clockoffset[MAX_NEARBASE_NUM];
+int16_t anc_distoffset[MAX_NEARBASE_NUM];
+int32_t test2;
+uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
+uint8_t get_newdist,notenoughdist_count;
+void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
+{
+ memcpy(&anc_pollrx[i],pollrx,4);
+ memcpy(&anc_resptx[i],resptx,4);
+ memcpy(&tag_resprx[i],&resprx,4);
+ memcpy(&anc_distoffset[i],distoffset,2);
+ anc_clockoffset[i] = test2;
+}
+void CalculateDists(void) //计算距离
+{
+ for(int i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ //rec_anc_signalpower[i] = exsistbase_list[i];
+ if(exsistbase_list[i]==KEEP_TIMES)
+ {
-// // exsistbase_list[i]--;
-//#ifdef _UWB_4G
-// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
-//#else
-// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
-//#endif
-// rtd_init = tag_resprx[i] - poll_tx_ts;
-// rtd_resp = anc_resptx[i] - anc_pollrx[i];
-// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
-// distance = tof * SPEED_OF_LIGHT;
-// if(distance>-10&&distance<1000)
-// nearbase_distlist[i] = distance*100+anc_distoffset[i];
-// }else{
-// // nearbase_distlist[i] = 0x1ffff;
-// }
-//
-// }
-//}
-//extern uint8_t module_power,imu_enable,motor_enable;
-//void Registor_Poll(void)
-//{
-// static u8 regpoll_count=0;
-// u8 timeout;
-//
-// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
-// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
-// tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
-// 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[GROUP_ID],2);
-// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
-// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
-// dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
-// dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
-// dwt_starttx(DWT_START_TX_IMMEDIATE);//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
-// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// timeout=50;
-// end_count=start_count+(timeout<<2);
-// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
-// {
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// if(current_count>=end_count&¤t_count<end_count+15000)
-// break;
-//
-// };
-//
-//}
-//float range_lost_time = 0;
-//u16 rec_nearbaseid,rec_nearbasepos;
-//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,flag_ancreadpara=0;
-// 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(0);
-// tag_succ_times = 0;
-// //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
-// if(nearbase_num>=MAX_NEARBASE_NUM)
-// {
-// nearbase_num = MAX_NEARBASE_NUM-1;
-// }
-// recbase_num=0;
-// for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
-// {
-// u16_nearbase_distlist[i] = nearbase_distlist[i];
-// }
-// tx_near_msg[GROUP_ID_IDX] = group_id;
-// tx_near_msg[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[NEARBASENUM_INDEX] = nearbase_num;
-// memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
-// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
-// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
-// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
-// dwt_writetxdata(13+4*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+4*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
-//
-// tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
-// para_update = 0;
-// get_newbase = 0;
-// flag_finalsend=0;
-// flag_rxon=1;
-// flag_getresponse=0;
-// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// recbase_num=0;
-// timeout=nearbase_num*SLOT_SCALE+10;
-// end_count=start_count+(timeout<<2);
-// if(end_count>=32768)
-// {end_count-=32768;}
-// mainbase_dist=100000;
-// mainbase_lost_count++;
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// while(current_count<end_count||current_count>end_count+15000)
-// {
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// 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
-// {
+ // exsistbase_list[i]--;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#else
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#endif
+ rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
+ rtd_resp = anc_resptx[i] - anc_pollrx[i];
+ tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;
+ if(distance>-10&&distance<1000)
+ nearbase_distlist[i] = distance*100+anc_distoffset[i];
+ range_lost_time=0;
+ }else{
+ // nearbase_distlist[i] = 0x1ffff;
+ }
+
+ }
+}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ 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[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//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
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+
+ };
+
+}
+u16 numceshi;
+u16 rec_nearbaseid,rec_nearbasepos;
+extern u16 poll_startcount;
+void NearPoll(void)
+{
+
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll,timeout;
+ u8 i,j,getsync_flag=0,flag_ancreadpara=0;
+ 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(0);
+ tag_succ_times = 0;
+ //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ if(nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ recbase_num=0;
+ for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
+ {
+ u16_nearbase_distlist[i] = nearbase_distlist[i];
+ }
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+ tx_near_msg[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[NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(13+4*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+4*nearbase_num, 0);//设置超宽带发送数据长度
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<poll_startcount||current_count>poll_startcount+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<poll_startcount-300)
+ {
+ break;
+ }
+ }
+
+ 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
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
+ numceshi++;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ get_newbase = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
+ end_count=start_count+(timeout<<2);
+ if(end_count>=32768)
+ {end_count-=32768;}
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<end_count||current_count>end_count+15000)
+ // while(1)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ 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
+ {
// if(flag_finalsend&&flag_ancreadpara)
// {
// dw_systime=dwt_readsystimestamphi32();
@@ -476,233 +492,237 @@
// break;
// }
// }
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// if(current_count>=end_count&¤t_count<end_count+15000)
-// break;
-// };
-// 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
-// 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
-// {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+ };
+ 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
+ test2 = dwt_readcarrierintegrator();
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64();
+ 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
+ {
// 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++;
-// memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
-// rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+ recbase_num++;
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
// TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
-// if(rec_remotepara_state != 0)
-// {
-// para_update = rec_remotepara_state;
-// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
-// if(para_update==2)
-// {
-// flag_ancreadpara = 1;
-// }
-// }
-// if(last_nearbase_num==0)
-// {
-// get_newbase=1;
-// nearbaseid_list[0]=rec_nearbaseid;
-// nearbase_num=1;
-// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
-// }
-// if(rec_nearbaseid==nearbaseid_list[0])
-// {
-// exsistbase_list[0]=KEEP_TIMES;
-// SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+// if(rec_nearbaseid==0x9002)
+// {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
+ if(rec_remotepara_state != 0)
+ {
+ para_update = rec_remotepara_state;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
+ if(para_update==2)
+ {
+ flag_ancreadpara = 1;
+ }
+ }
+ if(last_nearbase_num==0)
+ {
+ get_newbase=1;
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+ if(rec_nearbaseid==nearbaseid_list[0])
+ {
+ exsistbase_list[0]=KEEP_TIMES;
+ SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-// //////////////////////////////////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;}
-// }
-// rec_nearbasepos=0;
-// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ //////////////////////////////////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;}
+ }
+ rec_nearbasepos=0;
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
-// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
-//
-//
-// mainbase_lost_count=0;
-// flag_finalsend=1;
-// memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
-// final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
-// temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
-// temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
-// // dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-// final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
-// tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
-// tx_near_msg[GROUP_ID_IDX] = group_id;
-//
-// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
-// dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
-// flag_getresponse=1;
-// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-// }else{
-// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
-// SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+ if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+
+
+ mainbase_lost_count=0;
+ flag_finalsend=1;
+ memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
+ final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
+ temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
+ temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
+ // dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+ final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+
+ dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+ flag_getresponse=1;
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ }else{
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-// if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
-// {
-// get_newbase=1;
-// nearbase_num++;
-// nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
-// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
-// }
-//
-// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
+ {
+ get_newbase=1;
+ nearbase_num++;
+ nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-//
-// if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
-// {
-// motor_state=rx_buffer[MOTORSTATE_INDEX];
-// }
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
-//
-// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
-// dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
-// }
-// }
-// }else{
-// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-// if(flag_rxon)
-// {dwt_rxenable(0);
-// }
-// }
-// // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-// }
-// dwt_forcetrxoff();
-// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-// CalculateDists();
-// j = 0;
-// next_nearbase_num = 0;
-// for(i=0;i<nearbase_num;i++)
-// {
-// if(exsistbase_list[i]>0)
-// {
-// exsistbase_list[i]--;
-// next_nearbase_num++;
-// true_exsistbase_list[j]=exsistbase_list[i];
-// true_nearbase_idlist[j]=nearbaseid_list[i];
-// true_nearbase_distlist[j++]=nearbase_distlist[i];
-//
-// }
-// }
-// nearbase_num = next_nearbase_num;
-// if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
-// {
-// last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
-// }
-// last_nearbase_num = next_nearbase_num;
-// for(i=0;i<last_nearbase_num-1;i++)
-// {
-// for(j=0;j<last_nearbase_num-1;j++)
-// {
-// if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
-// {
-// u32 temp_dist,temp_id,temp_exsis;
-// temp_dist=true_nearbase_distlist[j];
-// temp_id = true_nearbase_idlist[j];
-// temp_exsis=true_exsistbase_list[i];
-// true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
-// true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
-// true_exsistbase_list[j]=true_exsistbase_list[j+1];
-//
-// true_nearbase_distlist[j+1]=temp_dist;
-// true_nearbase_idlist[j+1]=temp_id;
-// true_exsistbase_list[j+1]=temp_exsis;
-// }
-// }
-// }
-//
-// report_num=0;
-// for (i=0;i<last_nearbase_num;i++)
-// {
-// nearbaseid_list[i]=true_nearbase_idlist[i];
-// nearbase_distlist[i]=true_nearbase_distlist[i];
-// exsistbase_list[i] = true_exsistbase_list[i];
-// }
-//
-// 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)
-// {
-// uint16_t calCRC;
-// calCRC = CRC_Compute(rec_remotepara,5);
-// if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
-// { uint8_t pack_msgtype,pack_index,pack_length;
-// pack_msgtype = rec_remotepara[0];
-// pack_index = rec_remotepara[1];
-// pack_length = rec_remotepara[2];
-// if(pack_msgtype==2)
-// {
-// if( pack_index == 1)//MOTOR_ONTIME_INDEX)
-// {
-//
-// // motor_keeptime = rec_remotepara[3];
-// }else if(pack_index == CNT_UPDATE)
-// {
-// if(rec_remotepara[3]==2)
-// {
-// EnterUWBUpdateMode();
-// }
-// }
-// else{
-// if(pack_index<200)
-// {
-// memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
-// //返回一个error状态
-// //SendComMap(pack_datalen,pack_index);
-// save_com_map_to_flash();
-// delay_ms(100);
-// NVIC_SystemReset();
-// }
-// }
-// }
-// }
-// }
-//}
-//u8 regpoll_count;
-//u32 id;
-//void Tag_App(void)//发送模式(TAG标签)
-//{
-//
-// //LED0_ON;
-// id = dwt_readdevid() ;
-// while (DWT_DEVICE_ID != id)
-// {
-// u8 iderror_count = 0;
-// id = dwt_readdevid() ;
-// if(iderror_count++>100)
-// {
-// printf("UWB芯片ID错误");
-// break;
-// }
-// }
-// delay_us(100);
-// g_Resttimer=0;
+
+ if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ {
+ motor_state=rx_buffer[MOTORSTATE_INDEX];
+ }
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+
+ dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+ }
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(flag_rxon)
+ {dwt_rxenable(0);
+ }
+ }
+ // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ }
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ CalculateDists();
+ j = 0;
+ next_nearbase_num = 0;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(exsistbase_list[i]>0)
+ {
+ exsistbase_list[i]--;
+ next_nearbase_num++;
+ true_exsistbase_list[j]=exsistbase_list[i];
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+
+ }
+ }
+ nearbase_num = next_nearbase_num;
+ if(mainbase_lost_count>1)//&&exsistbase_list[0] != 0)
+ {
+ last_lpcount-= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
+ }
+ last_nearbase_num = next_nearbase_num;
+ for(i=0;i<last_nearbase_num-1;i++)
+ {
+ for(j=0;j<last_nearbase_num-1;j++)
+ {
+ if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ {
+ u32 temp_dist,temp_id,temp_exsis;
+ temp_dist=true_nearbase_distlist[j];
+ temp_id = true_nearbase_idlist[j];
+ temp_exsis=true_exsistbase_list[i];
+ true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+ true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_exsistbase_list[j]=true_exsistbase_list[j+1];
+
+ true_nearbase_distlist[j+1]=temp_dist;
+ true_nearbase_idlist[j+1]=temp_id;
+ true_exsistbase_list[j+1]=temp_exsis;
+ }
+ }
+ }
+
+ report_num=0;
+ for (i=0;i<last_nearbase_num;i++)
+ {
+ nearbaseid_list[i]=true_nearbase_idlist[i];
+ nearbase_distlist[i]=true_nearbase_distlist[i];
+ exsistbase_list[i] = true_exsistbase_list[i];
+ }
+
+ 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)
+ {
+ uint16_t calCRC;
+ calCRC = CRC_Compute(rec_remotepara,5);
+ if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+ { uint8_t pack_msgtype,pack_index,pack_length;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == 1)//MOTOR_ONTIME_INDEX)
+ {
+
+ // motor_keeptime = rec_remotepara[3];
+ }else if(pack_index == CNT_UPDATE)
+ {
+ if(rec_remotepara[3]==2)
+ {
+ EnterUWBUpdateMode();
+ }
+ }
+ else{
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
+ }
+ }
+ }
+ }
+}
+u8 regpoll_count;
+u32 id;
+void Tag_App(void)//发送模式(TAG标签)
+{
+
+ //LED0_ON;
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
+ {
+ u8 iderror_count = 0;
+ id = dwt_readdevid() ;
+ if(iderror_count++>100)
+ {
+ printf("UWB芯片ID错误");
+ break;
+ }
+ }
+ 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
@@ -717,7 +737,7 @@
// Registor_Poll();
// }
// }
-// NearPoll();
-// dwt_entersleep();
-// bat_percent=Get_VDDVlotage();
-//}
+ NearPoll();
+ dwt_entersleep();
+ bat_percent=Get_VDDVlotage();
+}
--
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