V2.13 修改丢包重连机制

zhyinch

2020-12-09 cdcf6a128503b3a4fc0dcc4f86ec63a3ab8a59b5

 Src/application/dw_app.c

@@ -552,7 +552,7 @@
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            trygetnearmsg_times=10*tag_frequency;
            mindist=temp_dist;
         }
         if(result==0)
@@ -576,7 +576,7 @@
}
   if(getsync_flag==0)
   {
   tagslotpos--;
//   tagslotpos--;
         if(tagslotpos==0||tagslotpos>max_slotpos)
      {      
         tagslotpos=max_slotpos;   
@@ -584,7 +584,7 @@
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
   //mainbase_id = 0x1;
//   mainbase_id = 0x9804;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -628,7 +628,7 @@
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}
extern u8 userkey_state;
@@ -777,7 +777,7 @@
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;                        
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist!=0)
                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
                           {
                              mainbase_id = rec_nearbaseid;
                              tag_state = GETNEARMSG;
@@ -799,10 +799,10 @@
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
      j=0;
         if(exsistbase_list[0]==0)
         {
//         if(exsistbase_list[0]==0)
//         {
//            SetNextPollTime(tagslotpos);
         }
//         }
      //   tyncpoll_time=0;
//         next_nearbase_num=0;
//         for(i=0;i<nearbase_num;i++)
@@ -852,10 +852,10 @@
//            mainbase_id = true_nearbase_idlist[0];
//            tag_state = GETNEARMSG;
//         }
//         if(mainbase_lost_count>3)
//         {
//            tag_state = DISCPOLL;
//         }
         if(mainbase_lost_count>10*tag_frequency)
         {
            tag_state = STARTPOLL;
         }
//            for (i=0;i<nearbase_num;i++)
//   {
//      if(nearbaseid_list[i]==0)
@@ -881,22 +881,22 @@
//         {
//            nearbase_distlist[i]=0x1ffff;
//         }
//         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];
//            if(pack_msgtype==2)
//            {
//                  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);
//               save_com_map_to_flash();
//               delay_ms(100);
//               NVIC_SystemReset();
//            }
//         }
         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];
            if(pack_msgtype==2)
            {
                  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);
               save_com_map_to_flash();
               delay_ms(100);
               NVIC_SystemReset();
            }
         }
   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);

@@ -988,6 +988,7 @@
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
    }
   switch(tag_state)
@@ -1009,7 +1010,7 @@
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      {
         tag_state = DISCPOLL;
         tag_state = STARTPOLL;
      }
         break;
      case NEARPOLL: