From e3d28cbb2bbf0c65af4d3d57e649f7ef0a6cbdb6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 13 八月 2022 21:50:01 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 66 +++++++++++++++++++-------------
1 files changed, 39 insertions(+), 27 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 4eaa1e7..0bc8c12 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -624,7 +624,8 @@
// mainbase_id=minid;
// mainbase_id = 0x4;
}
-#define TAGET_OFFSETTIME 940
+int16_t target_offsettime = 850;
+//#define TAGET_OFFSETTIME 940
#define MAX_NEARBASE_ANCNUM 11
u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
u8 outrange_times;
@@ -638,10 +639,10 @@
extern u16 slotpos_intoatl, slotpos;
void NextPollDelay(u32 anchor_time)
{
- // tagslotpos = 0;
+ //tagslotpos = 0;
error_time = anchor_time-expect_anctime;
if(error_time<2000&&error_time>0)
- clockoffset += (TAGET_OFFSETTIME-error_time)*0.1;
+ clockoffset += (target_offsettime-error_time)*0.1;
for(pd_i=0;pd_i<tag_frequency;pd_i++)
{
slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
@@ -660,7 +661,7 @@
return ;
}
u16 lpcount,poll_startcount,last_lpcount;
-u16 waketopolltimeus = 4000;
+u16 waketopolltimeus = 3200;
#define BASENUM_COMTIME 244
u32 last_anchor_time;
void SetLPTimer(u32 anchor_time)
@@ -681,13 +682,13 @@
last_lpcount = lpcount;
}
-void NextSlotDelayMs(u16 delayms)
+void NextSlotDelayMs(int16_t delayms)
{
current_slotnum++;
if(current_slotnum>=tag_frequency)
{
current_slotnum = 0;
- lpcount = last_lpcount+31457/tag_frequency+1311+5;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+ lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
}else{
lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
}
@@ -765,7 +766,9 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+extern float nomove_count;
+uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+uint8_t motor_flag;
void NearPoll(void)
{
@@ -789,15 +792,21 @@
recbase_num=0;
// motor_state=0;
+ if(motor_keeptime>0)
+ {
+ motor_flag = 1;
+ }else{
+ motor_flag = 0;
+ }
tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
+ tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
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],&nearbase_distlist,nearbase_num*4+4);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
if(intheight!=0)
@@ -813,6 +822,7 @@
dwt_writetxdata(29+8*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(29+8*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);
@@ -822,7 +832,7 @@
}
}
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(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
// for(i=0;i<nearbase_num+1;i++)
// {
// nearbase_distlist[i] = 0x1ffff;
@@ -858,11 +868,11 @@
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
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
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
-
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -938,7 +948,8 @@
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
- { };}
+ { };}
+//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
break;
}else{
@@ -966,6 +977,7 @@
}
}
+ // HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(recbase_num!=nearbase_num+1)
@@ -980,8 +992,8 @@
if(flag_finalsend!=1)
{flag_finalsend = 2;}
dwt_forcetrxoff();
-dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if(mainbase_lost_count==0)
{
#ifdef SWITCHBASE_DIST
@@ -1013,7 +1025,7 @@
if(para_update)
{
- uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+
pack_msgtype = rec_remotepara[0];
pack_index = rec_remotepara[1];
pack_length = rec_remotepara[2];
@@ -1021,11 +1033,12 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- if(motor_keeptime==0)
+ // if(motor_keeptime==0)
motor_keeptime = rec_remotepara[3];
}else{
if(pack_index<200)
{
+ nomove_count = 0;
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);
@@ -1050,7 +1063,6 @@
}
extern uint8_t module_power,imu_enable,motor_enable;
-
void Registor_Poll(void)
{
static u8 regpoll_count=0;
@@ -1064,7 +1076,7 @@
tagslotpos=TOTAL_SLOTNUM;
}
//SetNextPollTime(tagslotpos);
- NextSlotDelayMs(1);
+ NextSlotDelayMs(-2);
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);
@@ -1076,13 +1088,13 @@
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
- memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],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 | 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
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
{
- IdleTask();
+// IdleTask();
};
if(status_reg==0xffffffff)
@@ -1144,8 +1156,6 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- // GetPressAndHeight();
- // intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -1155,7 +1165,7 @@
IdleTask();
if(error_times++>20)
{
- printf("DW ID ERROR.\r\n");
+ //printf("DW ID ERROR.\r\n");
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
}
}
@@ -1184,6 +1194,8 @@
break;
case NEARPOLL:
NearPoll();
+ // GetPressAndHeight();
+ //intheight = Height*100;
break;
case SINGLEPOLL:
Poll();
--
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