From eddac77c8fa85acccbf6eeff48b1ff760c70843a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 01 十一月 2023 15:33:01 +0800
Subject: [PATCH] 版本v2.7，大包字节uwb传输测试成功。
---
Src/application/dw_app.c | 33 +++++++++++++++++++++++++--------
1 files changed, 25 insertions(+), 8 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 226c813..00d603f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -89,7 +89,7 @@
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
+ DWT_PHRMODE_EXT, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
@@ -847,6 +847,11 @@
}
}
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+uint16_t nearbase_taglist_num;
+extern uint8_t uwb_tx[300];
void NearPoll(void)
{
@@ -882,24 +887,35 @@
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[NEARBASENUM_INDEX] = nearbase_num;
+ if(taglist_num>10)
+ {taglist_num=10;}
+ nearbase_taglist_num=nearbase_num+taglist_num;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_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],&tagid_list,taglist_num*2);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- 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
+ dwt_writetxdata(29+8*nearbase_taglist_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_taglist_num, 0);//设置超宽带发送数据长度
+
+// dwt_writetxdata(280, uwb_tx, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(282, 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)
@@ -924,7 +940,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_taglist_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -1324,6 +1340,7 @@
}
userkey_state = !GET_USERKEY;
dwt_forcetrxoff();
+// Dw1000_Init();
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);
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);
--
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