V1.19 测试10对10 200ms防撞。

zhyinch

2020-06-27 fa5a89bd9f87ef619619194d00cd495d165e1f12

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -208,7 +208,31 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
u16 current_slotnum,total_slotnum,target_time,last_time;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
   current_slotnum++;
   if(current_slotnum==total_slotnum)
      current_slotnum-=total_slotnum;
   //time=5;
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);

   last_time=target_time;
   if(target_time>=990&&target_time<992)
   {
      current_slotnum++;
   target_time+=g_com_map[COM_INTERVAL];
   tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
   tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
   }	
   if(target_time>=1000)
   {target_time-=1000;}
   if(target_time<0)
   {target_time+=1000;}

}
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -265,7 +289,7 @@
{
   u8 i,temp_value;
   temp_value = GetRandomValue();
   for(i=temp_value%32;i<max_slotpos;i++)
   for(i=temp_value%max_slotpos;i<max_slotpos;i++)
   {
      if(((emptyslot>>i)&0x1)==0)
      {
@@ -286,7 +310,7 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;

 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -323,7 +347,7 @@
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num/4)+2;
   timeout=ceil((float)nearbase_num*0.4)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -396,6 +420,7 @@
                           }
                           TIM3->CNT=tmp_time;
                        }
                           current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
@@ -491,8 +516,9 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -537,7 +563,7 @@
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
@@ -550,13 +576,13 @@
         }
         
      //   printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
//         #ifdef USART_INTEGRATE_OUTPUT		
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            UART_PushFrame(usart_send,6+report_num*6);
//         #endif
         #ifdef USART_INTEGRATE_OUTPUT		
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -572,7 +598,7 @@
//         }else{
//            anclost_times=0;
//         }

dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
@@ -615,13 +641,16 @@
         tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
         slottime=ceil((nearbase_num+2)*0.3)+1;
         //slottime=ceil((nearbase_num+2)*0.4)+2;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }else{
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
	
}

void Tag_App(void)//发送模式(TAG标签)
@@ -629,6 +658,7 @@
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
   switch(tag_state)
   {
      case DISCPOLL:
@@ -642,6 +672,9 @@
         break;
   }

   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;		
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);	
}

int8_t correction_time,new_tagid=0;
@@ -867,7 +900,6 @@
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
extern uint32_t tagpos_binary;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -877,15 +909,17 @@
   u16 tempid;
   uint32_t rec_syncid;
   
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
   g_start_sync_flag=0;

   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

//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
   };

//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);	
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { u16 tag_recv_interval;
      float temp_tagpos;