V1.67 测试完成

zhyinch

2022-08-10 ee92c0770f3d386bdd58189f1b395b342f79ec34

V1.67 测试完成

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.zhyin

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        </Buttons>
        <OriginalItems>
          <Len>898</Len>
@@ -3603,21 +3603,21 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>0</ActiveTab>
      <ActiveTab>1</ActiveTab>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>28</ColumnNumber>
        <TopLine>404</TopLine>
        <CurrentLine>955</CurrentLine>
        <ColumnNumber>13</ColumnNumber>
        <TopLine>960</TopLine>
        <CurrentLine>974</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>123</TopLine>
        <CurrentLine>149</CurrentLine>
        <ColumnNumber>34</ColumnNumber>
        <TopLine>134</TopLine>
        <CurrentLine>148</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3651,16 +3651,16 @@
      </Doc>
      <Doc>
        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>37</ColumnNumber>
        <TopLine>97</TopLine>
        <CurrentLine>106</CurrentLine>
        <ColumnNumber>26</ColumnNumber>
        <TopLine>45</TopLine>
        <CurrentLine>66</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>17</ColumnNumber>
        <ColumnNumber>23</ColumnNumber>
        <TopLine>25</TopLine>
        <CurrentLine>36</CurrentLine>
        <Folding>1</Folding>
@@ -3676,6 +3676,15 @@
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\serial_at_cmd_app.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>1</TopLine>
        <CurrentLine>1</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
    </MDIGroup>
  </MDIGroups>


 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvoptx

@@ -164,7 +164,7 @@
          <Type>0</Type>
          <LineNumber>106</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134258168</Address>
          <Address>134257956</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
@@ -327,6 +327,16 @@
          <WinNumber>1</WinNumber>
          <ItemText>hex_dist,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>30</count>
          <WinNumber>1</WinNumber>
          <ItemText>hex_dist</ItemText>
        </Ww>
        <Ww>
          <count>31</count>
          <WinNumber>1</WinNumber>
          <ItemText>dist_cm</ItemText>
        </Ww>
      </WatchWindow1>
      <MemoryWindow1>
        <Mm>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -313,10 +313,11 @@
    }
return max_slotpos-1;
}
u8 test=0,dissucc_flag1,dissucc_flag2,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
u8 test=0,dissucc_times,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count;
u16 usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id,success_ancid;
int32_t rec_extratag_dist;
 void NearPoll(void)
{
@@ -471,10 +472,14 @@
                                    dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                                if(temp_dist!=0x1ffff&&lastdist1!=temp_dist&&!dissucc_flag1)//没有成功测距，且距离和上一次不相等
                                if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
                                {
                                    dissucc_flag1 = 1;
                                    lastdist1 = temp_dist;
                                   if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
                                   {
                                        success_ancid = rec_nearbaseid;
                                        dissucc_times++;
                                   
                                   
    
                                        g_Resttimer=0;
                                        IWDG_Feed();
@@ -510,6 +515,7 @@
                                        #endif
                                    }
                                }
                                }
                                    
                                }else{
                                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -536,11 +542,13 @@
                                    LED0_BLINK;
//                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                                    tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                         if(temp_dist!=0x1ffff&&lastdist2!=temp_dist&&!dissucc_flag2)//没有成功测距，且距离和上一次不相等
                         if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
                                {
                                    dissucc_flag2 = 1;
                                    lastdist2 = temp_dist;
                                    
                                   if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
                                   {
                                        success_ancid = rec_nearbaseid;
                                        dissucc_times++;
                                   
                                        #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//正常模式
                                        usart_send[3] = 17;//数据段长度
@@ -561,7 +569,7 @@
                                        UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                                        #endif

                                    
                                    //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                                //    result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送            
                                    //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
@@ -588,6 +596,7 @@
                                        UART_PushFrame(usart_send,21);
                                        #endif
                                    }
                                }
                                }
                            }                                    
                            }
@@ -701,8 +710,8 @@
        {
            usartoutput_notenough = 0;
        }else{
            sync_timer += time32_incr%5;
            if(usartoutput_notenough++>50)
            sync_timer += time32_incr%2;
            if(usartoutput_notenough++>500)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
@@ -798,7 +807,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS],tagnewdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
    u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -952,18 +961,18 @@
            }else{
                motorstate =0;
            }
//            if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
//            {
//                tagdist_list[taglist_pos]=0x1ffff;
//            }
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            }else{
                if(tagnewdist_list[taglist_pos])
                {
                    tagnewdist_list[taglist_pos] = 0;
                memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
                }
            }
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
            tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
            tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(remotesend_state<<4)|motorstate;
@@ -1073,6 +1082,7 @@
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        }
                        tagnewdist_list[taglist_pos] = 1;
                        tagseq_list[taglist_pos] = frame_seq_nb2;
                #ifdef USART_SINGLE_OUTPUT
                    usart_send[2] = 1;//正常模式 

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -145,7 +145,7 @@
        
    OUT485_ENABLE;
    ComMapCheck();    
    g_com_map[VERSION] = (1<<8)|66;
    g_com_map[VERSION] = (1<<8)|67;
    supergroupid = g_com_map[IMU_THRES];
    FLASH_Read(FLASH_HARDWARE_FLAG, (uint8_t*)&g_com_map[HARDWAREFLAG_INDEX], 16);
    dist_threshold = (g_com_map[SPEEDFILTER_THRES]*10)/(1000/g_com_map[COM_INTERVAL]);
@@ -306,7 +306,7 @@
        }

    }
extern uint8_t dissucc_flag1,dissucc_flag2;    
extern uint8_t dissucc_times;    
int main(void)
{
 
@@ -329,7 +329,7 @@
    if(g_start_send_flag)
    {
        g_start_send_flag = 0;    
        if(dissucc_flag2!=1||dissucc_flag1!=1)
        if(dissucc_times<2)
            Tag_App();
    }
        IdleTask();        

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -37,9 +37,9 @@
uint16_t sysscal;
u16 tag_recv_timer, tag_timer,last_polltime;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart,getrange_success,dissucc_flag2,dissucc_flag1;
extern uint8_t g_pairstart,getrange_success,dissucc_times;
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern u16 tyncpoll_time,target_time,success_ancid;
extern uint32_t synclost_timer,current_syncid;
void TIM3_IRQHandler(void)   //TIM3??
{
@@ -62,8 +62,8 @@
            flag_newsecond=1;
        //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);    
            sync_timer=0;
            dissucc_flag2 = 0;
            dissucc_flag1 = 0;
            dissucc_times = 0;
            success_ancid = 0;
          TagListUpdate();
        }
        
@@ -113,18 +113,18 @@
//        }
//    }
    }else{        //标签同步处理
        if(sync_timer%100==0)
        if(sync_timer%20==0)
        {

            last_polltime=sync_timer;
        //    last_polltime=sync_timer;
        //    GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
        g_start_send_flag=1;
        }
        if(sync_timer>900&&(dissucc_flag2&dissucc_flag2)==0)
        {
            if(sync_timer%10==0)
            g_start_send_flag=1;
        } 
//        if(sync_timer>900&&(dissucc_flag2&dissucc_flag2)==0)
//        {
//            if(sync_timer%10==0)
//            g_start_send_flag=1;
//        } 
        
    }