2.61 增加时间片异常处理逻辑

yincheng.zhong

2022-12-22 f223f306a6810aa2c2c6181176ea54ed26256273

 Src/application/dw_app.c

@@ -120,7 +120,7 @@
uint16_t current_slotpos = 0;

uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;

void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -615,6 +615,7 @@
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            mainbase_id = mindist_ancid;   
            GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -703,7 +704,8 @@
            last_lpcount = lpcount;
}
uint16_t rec_tagperiod;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;
int8_t notenoughdist_count=0;
void GetNearMsg(void)
{
   u32 start_poll,frame_len;
@@ -714,6 +716,7 @@
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9818;
    notenoughdist_count = -2;
   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] = POS_MSG;
@@ -795,11 +798,14 @@
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
uint16_t rec_ancpos;
uint8_t dist_noutenough_count;
uint8_t ancdist_hist[11];

void NearPoll(void)
{
   
   uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
    static u8 notenoughdist_count=0;
    
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
@@ -979,9 +985,7 @@
                                             outrange_times = 0;
                                         }
                                     }
                                 
									
									
                                 									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -989,7 +993,7 @@

                           flag_getresponse=1;                        
                           //时间同步
                        tmp_time=tmp_time+450;
                                    tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
@@ -1036,6 +1040,7 @@
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                 trygetnearmsg_times = 0;
                                            GetNearMsg();
                                        }
                                    #endif

@@ -1066,9 +1071,10 @@
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                        mainbase_id = mindist_slavebaseid;
                        tag_state = GETNEARMSG;
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
@@ -1116,13 +1122,17 @@
               }
            }
         }
            if(get_newdist>2)
            if(get_newdist>=2)
            {
                notenoughdist_count = 0;
            }else{
                if(notenoughdist_count++>3)
                {
                    notenoughdist_count = 0;
                    current_slotpos = start_count%max_slotpos;  //如果丢失连接超过5次就随机换个时间片
                    tagpoll_sync_sec = current_slotpos/200;
                    tagslotpos = current_slotpos%200;
                    flag_tagnewpos = 0;
             //       tag_state = DISCPOLL;
                }
            }
@@ -1131,8 +1141,9 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                    trygetnearmsg_times = 0;
                    nearbaseid_list0[i]=1;
                    GetNearMsg();
                }
         }
            if(pos_nochange)