From b4a3dfd45831f0db1e19f74beb685027e8dbc564 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 29 八月 2024 12:04:09 +0800
Subject: [PATCH] 修改部分状态逻辑判断
---
keil/simple_ss_twr_dw_resp.c | 152 +++++++++++++++++++++++++-------------------------
1 files changed, 77 insertions(+), 75 deletions(-)
diff --git a/keil/simple_ss_twr_dw_resp.c b/keil/simple_ss_twr_dw_resp.c
index 3334f17..a37615b 100644
--- a/keil/simple_ss_twr_dw_resp.c
+++ b/keil/simple_ss_twr_dw_resp.c
@@ -219,7 +219,7 @@
poll_rx_num++;
receive_flag=1;
recev_error_num=0;
- sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
+ sleep_timer_start(__MS_TO_32K_CNT(SLEEP_TIMER_NUM));//测试
}
else
{
@@ -282,8 +282,8 @@
anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
anchordata_dist[i] = dist;
anchordata_bat[i] = battary;
- tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
- distance=dist;
+ tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
+ distance=dist;
}
uint16_t CmpTagInList(uint16_t tagid)
{ uint16_t i;
@@ -310,16 +310,16 @@
void TagListUpdate(void)
{
- uint8_t i,j=0;
- for(i=0;i<anchordata_num;i++)
- {
- if(tagofflinetime[i]++<QUIT_SLOT_TIME)
- {
- anchordata_id[j]=anchordata_id[i];
- tagofflinetime[j++]=tagofflinetime[i];
- }
- }
- anchordata_num=j;
+ uint8_t i,j=0;
+ for(i=0; i<anchordata_num; i++)
+ {
+ if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ {
+ anchordata_id[j]=anchordata_id[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ anchordata_num=j;
}
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
{
@@ -351,7 +351,7 @@
temp_flag=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
temp_count1=phy_timer_count_get();
while(mac_is_busy());
- gpio_pin_clr(SCL_PIN);
+ gpio_pin_clr(SCL_PIN);
}
int simple_main(void)
{
@@ -373,7 +373,7 @@
// uwb configure
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
-
+
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
// Register rx interrupt callback function
@@ -387,9 +387,9 @@
uint8_t i;
uint16_t tempid;
temp_count3=phy_timer_count_get();
- gpio_pin_set(SCL_PIN);
+ gpio_pin_set(SCL_PIN);
uwb_rx(0, 0, RX_SYNC_WIN_US);//开启接收
- while(mac_is_busy());
+ while(mac_is_busy());
temp_count2=phy_timer_count_get();
// start_receive_count=phy_timer_count_get();
// poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
@@ -401,7 +401,7 @@
// {
if(receive_flag==1)//成功接收
{
-
+
if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
{ temp_count2=phy_timer_count_get();
frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
@@ -443,7 +443,7 @@
// while(mac_is_busy());
}
//receive_flag=0;
- gpio_pin_clr(SCL_PIN);
+ gpio_pin_clr(SCL_PIN);
}
@@ -482,65 +482,67 @@
uint8_t i;
uint16_t tempid;
temp_count3=phy_timer_count_get();
- gpio_pin_set(SCL_PIN);
+ gpio_pin_set(SCL_PIN);
uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//开启接收
- start_receive_count=phy_timer_count_get();
- poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
- end_receive_count=start_receive_count+poll_timeout;
- if(end_receive_count>=UINT32_MAX)
- {end_receive_count-=UINT32_MAX;}
- current_count=phy_timer_count_get();
- while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
- {
- while(mac_is_busy());
-
- temp_count2=phy_timer_count_get();
- if(receive_flag==1)//成功接收
+ start_receive_count=phy_timer_count_get();
+ poll_timeout=rec_nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(DELAY_DEFAULT);//多一个多0.4ms默认0.4ms计算为0.125*4*100000,默认开启1mss
+ end_receive_count=start_receive_count+poll_timeout;
+ if(end_receive_count>=UINT32_MAX)
{
- if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
- { temp_count2=phy_timer_count_get();
- frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
- battary = rx_buf[BATTARY_IDX];
- rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
- memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
- memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
- memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
- memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
- for(i=0; i<rec_nearbase_num; i++)
- {
- if(rec_ancidlist[i] == dev_id)
- {
- PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
- }
- }
- for(i=0; i<rec_nearbase_num; i++)
- {
- memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)//也是比id如果有就更新没有就抢占
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
-
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
-
- }
- gpio_pin_clr(SCL_PIN);//测试
- return 1;//返回发送成功标志
- } else if (receive_flag==2)//接受失败
- {
- uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ end_receive_count-=UINT32_MAX;
}
- //receive_flag=0;
- }
- gpio_pin_clr(SCL_PIN);//测试
- return 0;//返回绑定失败标志
+ current_count=phy_timer_count_get();
+ while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//循环接受包体,若为124.8K则是+62400000
+ {
+ while(mac_is_busy());
+
+ temp_count2=phy_timer_count_get();
+ if(receive_flag==1)//成功接收
+ {
+ if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
+ { temp_count2=phy_timer_count_get();
+ frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
+ battary = rx_buf[BATTARY_IDX];
+ rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
+ memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],2);
+ memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
+ memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
+ memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ for(i=0; i<rec_nearbase_num; i++)
+ {
+ if(rec_ancidlist[i] == dev_id)
+ {
+ PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
+ }
+ }
+ for(i=0; i<rec_nearbase_num; i++)
+ {
+ memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)//也是比id如果有就更新没有就抢占
+ {
+ seize_anchor=0; //非抢占。已存在列表中
+ Anchor_RecNearPoll(i);
+ break;
+ }
+ }
+
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1; //抢占anchor
+ Anchor_RecNearPoll(i);
+ }
+
+ }
+ gpio_pin_clr(SCL_PIN);//测试
+ return 1;//返回发送成功标志
+ } else if (receive_flag==2)//接受失败
+ {
+ uwb_rx(0, 0, RX_SYNC_WIN_US_TEMP);//再次开启接收
+ }
+ //receive_flag=0;
+ }
+ gpio_pin_clr(SCL_PIN);//测试
+ return 0;//返回绑定失败标志
}
//}
#endif
--
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