1.66

zhyinch

2022-08-08 fed6a447e90051027925217fae8c6a5d57054989

1.66

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

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        </Buttons>
        <OriginalItems>
          <Len>1423</Len>
@@ -3563,7 +3563,7 @@
        <Name>Build</Name>
        <Buttons>
          <Len>955</Len>
          <Data>00200000000000001000FFFF01001100434D4643546F6F6C426172427574746F6ECF7F0000000000001C0000000000000000000000000000000001000000010000000180D07F0000000000001D000000000000000000000000000000000100000001000000018030800000000000001E000000000000000000000000000000000100000001000000FFFF01001500434D4643546F6F6C4261724D656E75427574746F6EC7040000000000006A0000000C4261746368204275696C2664000000000000000000000000010000000100000000000000000000000100000004000580C7040000000000006A0000000C4261746368204275696C266400000000000000000000000001000000010000000000000000000000010000000000058046070000000000006B0000000D42617463682052656275696C640000000000000000000000000100000001000000000000000000000001000000000005804707000000000000FFFFFFFF0B426174636820436C65616E0100000000000000010000000000000001000000000000000000000001000000000005809E8A0000000000001F0000000F4261746326682053657475702E2E2E000000000000000000000000010000000100000000000000000000000100000000000180D17F0000000000002000000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF00000000000000000000000000010000000100000001804C8A0000000000002100000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF000000000000000000000000000100000001000000FFFF01001900434D4643546F6F6C426172436F6D626F426F78427574746F6EBA00000000000000000000000000000000000000000000000001000000010000009600000003002050FFFFFFFF00960000000000000000000180EB880000000000002200000000000000000000000000000000010000000100000001800000000001000000FFFFFFFF0000000000000000000000000001000000010000000180C07F000000000000230000000000000000000000000000000001000000010000000180B08A000000000000240000000000000000000000000000000001000000010000000180A8010000000000004E00000000000000000000000000000000010000000100000001807202000000000000530000000000000000000000000000000001000000010000000180BE010000000000005000000000000000000000000000000000010000000100000000000000054275696C64DC010000</Data>
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        </Buttons>
        <OriginalItems>
          <Len>583</Len>
@@ -3579,7 +3579,7 @@
        <Name>Debug</Name>
        <Buttons>
          <Len>2362</Len>
          <Data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ata>
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        <OriginalItems>
          <Len>898</Len>
@@ -3603,21 +3603,21 @@
    <ActiveMDIGroup>0</ActiveMDIGroup>
    <MDIGroup>
      <Size>100</Size>
      <ActiveTab>1</ActiveTab>
      <ActiveTab>0</ActiveTab>
      <Doc>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>34</ColumnNumber>
        <TopLine>136</TopLine>
        <CurrentLine>148</CurrentLine>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>28</ColumnNumber>
        <TopLine>404</TopLine>
        <CurrentLine>955</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\dw_app.c</Name>
        <ColumnNumber>20</ColumnNumber>
        <TopLine>1083</TopLine>
        <CurrentLine>1090</CurrentLine>
        <Name>..\Src\main.c</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>123</TopLine>
        <CurrentLine>149</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
@@ -3649,6 +3649,33 @@
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\stm32f10x_it.c</Name>
        <ColumnNumber>37</ColumnNumber>
        <TopLine>97</TopLine>
        <CurrentLine>106</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.c</Name>
        <ColumnNumber>17</ColumnNumber>
        <TopLine>25</TopLine>
        <CurrentLine>36</CurrentLine>
        <Folding>1</Folding>
        <ContractedFolders></ContractedFolders>
        <PaneID>0</PaneID>
      </Doc>
      <Doc>
        <Name>..\Src\application\global_param.h</Name>
        <ColumnNumber>0</ColumnNumber>
        <TopLine>16</TopLine>
        <CurrentLine>25</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>134258368</Address>
          <Address>134258168</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -313,7 +313,7 @@
    }
return max_slotpos-1;
}
u8 test=0;
u8 test=0,dissucc_flag1,dissucc_flag2,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count,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;
@@ -422,23 +422,23 @@
                                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                                    
                                    
                                    if(g_com_map[DEV_ROLE]!=0)
                                    {
                                    sync_timer=temp_sync_timer1;
////                                    memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
//                                    if(g_com_map[DEV_ROLE]!=0)
//                                    {
//                                    sync_timer=temp_sync_timer1;
//////                                    memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
////									
//                                    
									
                                        tmp_time=tmp_time+650;
                                    if(tmp_time>999)
                                    {
                                        tmp_time-=999;
                                        sync_timer++;
                                        if(sync_timer>=1000)
                                            {sync_timer=0;}
                                    }
                                    TIM3->CNT=tmp_time;
                                }
                                    current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                                        tmp_time=tmp_time+650;
//                                    if(tmp_time>999)
//                                    {
//                                        tmp_time-=999;
//                                        sync_timer++;
//                                        if(sync_timer>=1000)
//                                            {sync_timer=0;}
//                                    }
//                                    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;
@@ -471,22 +471,19 @@
                                    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)
                                    {
                                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
                                {
                                    dissucc_flag1 = 1;
                                    lastdist1 = temp_dist;
	
                                        g_Resttimer=0;
                                        IWDG_Feed();
                                        #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//正常模式
                                        usart_send[3] = 17;//数据段长度
                                        usart_send[4] = frame_seq_nb;//数据段长度
                                        if(g_com_map[DEV_ROLE])
                                        {
                                        memcpy(&usart_send[5],&dev_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);		
                                        }else{
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&dev_id,2);	
                                        }											
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);												
                                        memcpy(&usart_send[9],&temp_dist,4);
                                        usart_send[13] = rx_buffer[DIST_IDX+3];
                                        usart_send[14] = button;
@@ -495,21 +492,15 @@
                                        UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                                        #endif
                                    }
									
                                    if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                                    {
                                    #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//正常模式
                                        usart_send[3] = 17;//数据段长度
                                        usart_send[4] = frame_seq_nb;//数据段长度
                                        if(g_com_map[DEV_ROLE])
                                        {
                                        memcpy(&usart_send[5],&rec_extratag_id,2);
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);		
                                        }else{
                                        memcpy(&usart_send[5],&rec_nearbaseid,2);
                                        memcpy(&usart_send[7],&rec_extratag_id,2);	
                                        }											
                                        memcpy(&usart_send[7],&rec_nearbaseid,2);									
                                        memcpy(&usart_send[9],&rec_extratag_dist,4);
                                        usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                                        usart_send[14] = button;
@@ -518,7 +509,7 @@
                                        UART_PushFrame(usart_send,21);
                                        #endif
                                    }
		
                                }
                                    
                                }else{
                                    rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -545,8 +536,11 @@
                                    LED0_BLINK;
//                                    memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                                    tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                                    if(temp_dist!=0x1ffff)
                                    {
                         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
                                {
                                    dissucc_flag2 = 1;
                                    lastdist2 = temp_dist;
                                    
                                        #ifdef USART_SINGLE_OUTPUT
                                        usart_send[2] = 1;//正常模式
                                        usart_send[3] = 17;//数据段长度
@@ -571,7 +565,7 @@
                                    //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
                                }
								
                                    if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                                    {
                                    #ifdef USART_SINGLE_OUTPUT
@@ -594,6 +588,7 @@
                                        UART_PushFrame(usart_send,21);
                                        #endif
                                    }
                                }
                            }                                    
                            }
                        }else{
@@ -706,7 +701,8 @@
        {
            usartoutput_notenough = 0;
        }else{
            if(usartoutput_notenough++>10)
            sync_timer += time32_incr%5;
            if(usartoutput_notenough++>50)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
@@ -791,7 +787,7 @@
            break;
    }

    SetNextPollTime(tyncpoll_time);
//    SetNextPollTime(tyncpoll_time);
    g_start_send_flag = 0;        
    GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);    
}
@@ -956,10 +952,10 @@
            }else{
                motorstate =0;
            }
            if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
            {
                tagdist_list[taglist_pos]=0x1ffff;
            }
//            if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
//            {
//                tagdist_list[taglist_pos]=0x1ffff;
//            }
            if(new_tagid)
            {
                tagdist_list[taglist_pos]=0x1ffff;
@@ -1017,7 +1013,7 @@
                    uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
                    double Ra, Rb, Da, Db;
                    int64_t tof_dtu;
          u8 si;
                    u8 si;
                    resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
                    final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
                    final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -145,7 +145,7 @@
        
    OUT485_ENABLE;
    ComMapCheck();    
    g_com_map[VERSION] = (1<<8)|65;
    g_com_map[VERSION] = (1<<8)|66;
    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;    
int main(void)
{
 
@@ -328,8 +328,9 @@
    g_start_sync_flag=0;
    if(g_start_send_flag)
    {
        g_start_send_flag = 0;		
        Tag_App();
        g_start_send_flag = 0;	
        if(dissucc_flag2!=1||dissucc_flag1!=1)
            Tag_App();
    }
        IdleTask();        
if(g_com_map[DEV_ROLE]==0)

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -37,7 +37,7 @@
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;
extern uint8_t g_pairstart,getrange_success,dissucc_flag2,dissucc_flag1;
u8 neartimout_timer=0,flag_syncbase=0,flag_newsecond=0;
extern u16 tyncpoll_time,target_time;
extern uint32_t synclost_timer,current_syncid;
@@ -62,6 +62,8 @@
            flag_newsecond=1;
        //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);    
            sync_timer=0;
            dissucc_flag2 = 0;
            dissucc_flag1 = 0;
          TagListUpdate();
        }
        
@@ -101,23 +103,28 @@
            flag_syncbase=1;
        }

        if(flag_syncbase)  //本模块是同步基站
        {
        if(sync_timer==995)
        {
            current_syncid = g_com_map[DEV_ID];
            sync_seq=0;
                SyncPoll(sync_seq,current_syncid);
        }
    }
//        if(flag_syncbase)  //本模块是同步基站
//        {
//        if(sync_timer==995)
//        {
//            current_syncid = g_com_map[DEV_ID];
//            sync_seq=0;
//                SyncPoll(sync_seq,current_syncid);
//        }
//    }
    }else{        //标签同步处理
        if(sync_timer==target_time)
        if(sync_timer%100==0)
        {

            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;
        } 
        
    }