修改频率不重启

yincheng.zhong

2022-12-26 87d4fd3cae59aea87b48f80e76cfefa17dc1a6c5

 Src/application/dw_app.c

@@ -573,7 +573,7 @@
                memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
                
            }
            send_buffer[MESSAGE_TYPE_IDX] = FINAL;	
            send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;	
         /* Compute final message transmission time. See NOTE 9 below. */
         final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -721,7 +721,7 @@
//mainbase_id = 0x9818;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
   tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
   
    
   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
@@ -752,7 +752,7 @@
      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
      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
@@ -796,6 +796,7 @@
               //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
void NearPoll(void)
{
   
@@ -820,9 +821,15 @@

   recbase_num=0;
//   motor_state=0;
    if(motor_state!=0&&motor_state!=3)
    {
        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[NEARBASENUM_INDEX] = nearbase_num;
@@ -835,7 +842,7 @@
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;	
   
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   
   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   
@@ -895,7 +902,7 @@
                     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
                     if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
@@ -913,7 +920,7 @@
                           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+nearbase_num*4], 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]=NEAR_FINAL;
                           tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
@@ -1001,7 +1008,7 @@
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                                                  trygetnearmsg_times = 0;
                                 trygetnearmsg_times = 0;
                                        }
                                    #endif

@@ -1042,7 +1049,7 @@
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
         {
            tag_state = DISCPOLL;
         //   tag_state = DISCPOLL;
         }   
         if(mainbase_lost_count!=0)
         {
@@ -1063,9 +1070,19 @@
            {
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
                        if(motor_keeptime==0)
                       // if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }else{
               }else if( pack_index == 2*COM_INTERVAL)
                    {
                        if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
                        {
                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                            save_com_map_to_flash();
                            tag_frequency = 1000/g_com_map[COM_INTERVAL];
                            bigslot_num = TOTAL_SLOTNUM/tag_frequency;
                        }
                    }
                    else{
                        if(pack_index<200)
                        {
                            memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
@@ -1097,7 +1114,7 @@
                           nearbaseid_list0[i]=1;
                }
         }
            SendHuiZongData();
        //    SendHuiZongData();
   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);