From f8b2fa433d03144490a1e887f3ffb56ca8fad97d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 09 七月 2020 23:24:34 +0800
Subject: [PATCH] 修改部分bug，华星测试没问题
---
Src/application/dw_app.c | 37 +++++++++++++++++++++++++++++--------
1 files changed, 29 insertions(+), 8 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 8399bff..62857f9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -47,12 +47,12 @@
#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 1550
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 600
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* 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. */
@@ -266,7 +266,7 @@
u8 GetRandomSlotPos(uint32_t emptyslot)
{
u8 i,temp_value;
- temp_value = GetRandomValue();
+ temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
for(i=temp_value%32;i<max_slotpos;i++)
{
if(((emptyslot>>i)&0x1)==0)
@@ -294,6 +294,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;
u32 rec_tagpos_binary;
int16_t offset=2700;
+u8 motor_state,rec_remotepara_state,rec_remotepara[30];
void NearPoll(void)
{
@@ -314,6 +315,7 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
+ motor_state=0;
tx_near_msg[BATTARY_IDX] = Get_Battary();
//tx_near_msg[BUTTON_IDX] = !READ_KEY0;
@@ -331,7 +333,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*0.6)+20;
+ timeout=ceil((float)nearbase_num*0.4)+2;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -409,6 +411,9 @@
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
mainbase_lost_count=0;
flag_finalsend=1;
@@ -427,16 +432,27 @@
flag_getresponse=1;
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tyncpoll_time=0;
+
//时间同步
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
SetNextPollTime(tyncpoll_time);
+ if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
+ {
+ g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
+ memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
+ memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+
+ }
// count_offset=sync_count-current_count-143;
// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
@@ -471,6 +487,11 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ 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
@@ -504,7 +525,7 @@
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- // SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tyncpoll_time);
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -604,7 +625,7 @@
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
+ //slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
--
Gitblit v1.9.3