From 66b13717fce3890b464d0b43eb61b94ea7cdf56e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 28 九月 2021 17:09:23 +0800
Subject: [PATCH] V2.30
---
源码/核心板/Src/application/dw_app.h | 18 +
源码/核心板/Src/application/global_param.c | 5
源码/核心板/Src/main.c | 8
源码/核心板/Src/application/beep_logic_app.c | 136 ++++++------
源码/核心板/Src/stm32f10x_it.c | 2
源码/核心板/MDK-ARM/Project.uvoptx | 24 ++
源码/核心板/Src/application/global_param.h | 2
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 352 ++++++++++++++++----------------
源码/核心板/Src/application/dw_app.c | 66 ++++-
9 files changed, 340 insertions(+), 273 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index e135a91..2e60b6a 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>176 176</TableColWidths>
+ <TableColWidths>175 176</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>679 100</TableColWidths>
+ <TableColWidths>770 110</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>401 139 139 100</TableColWidths>
+ <TableColWidths>502 139 139 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -93,8 +93,8 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
@@ -102,8 +102,8 @@
</MaxPosition>
<NormalPosition>
<Top>44</Top>
- <Left>106</Left>
- <Right>1542</Right>
+ <Left>100</Left>
+ <Right>1536</Right>
<Bottom>727</Bottom>
</NormalPosition>
</WindowPosition>
@@ -490,7 +490,7 @@
<RecentRowIndex>0</RecentRowIndex>
<RectRecentDocked>
<Len>16</Len>
- <Data>000000008F020000000600000E030000</Data>
+ <Data>0300000092020000FD050000F5020000</Data>
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
@@ -520,7 +520,7 @@
<Window>
<RegID>199</RegID>
<PaneID>199</PaneID>
- <IsVisible>0</IsVisible>
+ <IsVisible>1</IsVisible>
<IsFloating>0</IsFloating>
<IsTabbed>0</IsTabbed>
<IsActivated>0</IsActivated>
@@ -1799,14 +1799,14 @@
</Window>
<DockMan>
<Len>3312</Len>
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@@ -1822,7 +1822,7 @@
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</Buttons>
<OriginalItems>
<Len>898</Len>
@@ -3607,44 +3607,44 @@
<Doc>
<Name>..\Src\main.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>218</TopLine>
- <CurrentLine>224</CurrentLine>
+ <TopLine>88</TopLine>
+ <CurrentLine>110</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>112</TopLine>
- <CurrentLine>118</CurrentLine>
+ <ColumnNumber>27</ColumnNumber>
+ <TopLine>1174</TopLine>
+ <CurrentLine>1186</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\global_param.c</Name>
- <ColumnNumber>26</ColumnNumber>
- <TopLine>27</TopLine>
- <CurrentLine>52</CurrentLine>
+ <ColumnNumber>37</ColumnNumber>
+ <TopLine>20</TopLine>
+ <CurrentLine>31</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\global_param.h</Name>
- <ColumnNumber>12</ColumnNumber>
- <TopLine>14</TopLine>
- <CurrentLine>27</CurrentLine>
+ <ColumnNumber>30</ColumnNumber>
+ <TopLine>22</TopLine>
+ <CurrentLine>15</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.h</Name>
- <ColumnNumber>24</ColumnNumber>
- <TopLine>23</TopLine>
- <CurrentLine>30</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>83</TopLine>
+ <CurrentLine>101</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3670,7 +3670,7 @@
<Doc>
<Name>..\Src\OnChipDevices\Spi.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>141</TopLine>
+ <TopLine>133</TopLine>
<CurrentLine>161</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3706,7 +3706,7 @@
<Doc>
<Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
<ColumnNumber>22</ColumnNumber>
- <TopLine>179</TopLine>
+ <TopLine>174</TopLine>
<CurrentLine>198</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3723,9 +3723,9 @@
</Doc>
<Doc>
<Name>..\Src\application\beep_logic_app.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>12</TopLine>
- <CurrentLine>31</CurrentLine>
+ <ColumnNumber>1</ColumnNumber>
+ <TopLine>52</TopLine>
+ <CurrentLine>18</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3733,7 +3733,7 @@
<Doc>
<Name>..\Src\OnChipDevices\Usart.h</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>27</TopLine>
+ <TopLine>19</TopLine>
<CurrentLine>56</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3787,7 +3787,7 @@
<Doc>
<Name>..\Src\ExternalDevices\dps368_test.c</Name>
<ColumnNumber>15</ColumnNumber>
- <TopLine>78</TopLine>
+ <TopLine>70</TopLine>
<CurrentLine>105</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3841,7 +3841,7 @@
<Doc>
<Name>..\Src\ExternalDevices\dps310.h</Name>
<ColumnNumber>30</ColumnNumber>
- <TopLine>310</TopLine>
+ <TopLine>302</TopLine>
<CurrentLine>340</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index feca54d..33f8581 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -130,7 +130,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
- <Name>d</Name>
+ <Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -155,7 +155,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
- <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,1)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
+ <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=1005,0,1426,405,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=475,231,923,645,0)(161=167,212,615,626,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -205,6 +205,26 @@
<WinNumber>1</WinNumber>
<ItemText>module_power,0x0A</ItemText>
</Ww>
+ <Ww>
+ <count>8</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>dist_cm,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>9</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>hex_dist,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>10</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>signalpower_list,0x0A</ItemText>
+ </Ww>
+ <Ww>
+ <count>11</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>decid,0x0A</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
index 1fd5085..4545b90 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/beep_logic_app.c"
@@ -16,74 +16,74 @@
uint16_t min_dist;
void main_logic(void) //主逻辑在这里执行
{
- static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
- uint16_t i;
- //除UWB之外的其他代码...
- static uint16_t beep_judge_cnt = 0;
- if(beep_judge_cnt++ >= 100)
- {
- beep_judge_cnt = 0;
- min_dist=0xffff;
- for(i = 0; i < 255;i++)
- {
- if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
- {
- min_dist=g_Tagdist[i];
- }
-
- }
-
- if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
- {
- beep_ontime = ONTIME2;
- beep_offtime = OFFTIME2;
- beep_state=2;
- distoffset1=0;
- distoffset2=0;
- }
- else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
- {
- beep_ontime = ONTIME3;
- beep_offtime = OFFTIME3;
- beep_state=1;
- distoffset1=0;
- distoffset2=0;
- }
- else{
- beep_state=0;
- distoffset1=0;
- distoffset2=0;
- }
-
- if(beep_state!=0)
- {
- if(timer_state==1)
- {
- if(beep_timer++ < beep_ontime)
- {
- RELAY1_ON;
- RELAY2_ON;
- }else{
- timer_state=0;
- beep_timer=0;
- }
- }else{
- if(beep_timer++ < beep_offtime)
- {
- RELAY1_OFF;
- RELAY2_OFF;
- }else{
- timer_state=1;
- beep_timer=0;
- }
-
- }
-
- } else {
- RELAY1_OFF;
- RELAY2_OFF;
- }
- }
+// static uint8_t beep_state,timer_state,beep_timer,beep_ontime,beep_offtime;
+// uint16_t i;
+// //除UWB之外的其他代码...
+// static uint16_t beep_judge_cnt = 0;
+// if(beep_judge_cnt++ >= 100)
+// {
+// beep_judge_cnt = 0;
+// min_dist=0xffff;
+// for(i = 0; i < 255;i++)
+// {
+// if(g_Tagdist[i] < min_dist&&g_Tagdist[i]>g_com_map[ALARM_DISTANCE1])
+// {
+// min_dist=g_Tagdist[i];
+// }
+//
+// }
+//
+// if (min_dist <= g_com_map[ALARM_DISTANCE2]+distoffset1)
+// {
+// beep_ontime = ONTIME2;
+// beep_offtime = OFFTIME2;
+// beep_state=2;
+// distoffset1=0;
+// distoffset2=0;
+// }
+// else if (min_dist <= g_com_map[ALARM_DISTANCE3]+distoffset2)
+// {
+// beep_ontime = ONTIME3;
+// beep_offtime = OFFTIME3;
+// beep_state=1;
+// distoffset1=0;
+// distoffset2=0;
+// }
+// else{
+// beep_state=0;
+// distoffset1=0;
+// distoffset2=0;
+// }
+//
+// if(beep_state!=0)
+// {
+// if(timer_state==1)
+// {
+// if(beep_timer++ < beep_ontime)
+// {
+// RELAY1_ON;
+// RELAY2_ON;
+// }else{
+// timer_state=0;
+// beep_timer=0;
+// }
+// }else{
+// if(beep_timer++ < beep_offtime)
+// {
+// RELAY1_OFF;
+// RELAY2_OFF;
+// }else{
+// timer_state=1;
+// beep_timer=0;
+// }
+//
+// }
+//
+// } else {
+// RELAY1_OFF;
+// RELAY2_OFF;
+// }
+// }
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index bce3bdd..c34e398 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -930,7 +930,7 @@
usart_send[18] = tag_slotpos;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- // UART_PushFrame(usart_send,21);
+ UART_PushFrame(usart_send,21);
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -953,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
-
+u16 signalpower_list[TAG_NUM_IN_SYS];
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -973,11 +973,10 @@
if(new_tagid)
{
- tagdist_list[taglist_pos]=0x1ffff;
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
- }else{
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ tagdist_list[taglist_pos]=0x1ffff;
}
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -1004,12 +1003,15 @@
break;
}
}
+ }else{
+
}
if(finalsend == 0)
{
- dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(24, 0);//设定发送长度
+ memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
+ dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(28, 0);//设定发送长度
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1088,7 +1090,8 @@
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
+ signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
#ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1144,7 +1147,7 @@
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
-u16 recnearbaselist_id[30];
+u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
void Anchor_App(void)
@@ -1179,6 +1182,39 @@
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
uint16_t checksum;
+ case DISCOVERPOLL:
+ if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
+ {
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>=30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
+ Anchor_RecPoll();
+ }
+ break;
case SPOLL:
//if (anchor_type == rx_buffer[ANC_TYPE_IDX])
if(dev_id==anc_id_recv)
@@ -1330,9 +1366,12 @@
tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
////////////////基站汇总模式数据
- memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
+ memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
+ if(anc_id_recv == dev_id )
+ {
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
memcpy(&usart_send[4],&tag_id_recv,2);
@@ -1350,11 +1389,12 @@
memcpy(&usart_send[17],&anc_id_recv,2);
memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
-
+ memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
+
checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
UART_PushFrame(usart_send,27+8*rec_nearbase_num);
-
+ }
//////////////////////////////////////////////////////////////
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index de921f8..e5bc528 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -26,6 +26,7 @@
//#define TAG_OUTPUT
#define HEX_OUTPUT
+#define ANCHORTYPE_NUM 5
#define MAX_NEARBASE_NUM 12
#define MAX_RFPOWER 67
#define DEFAULT_RFPOWER 30
@@ -77,6 +78,7 @@
#define NEAR_RESPONSE 0x07
#define NEAR_FINAL 0x08
#define SPOLL 0x09
+#define DISCOVERPOLL 0x0a
#define REG_POLL 0x10
#define REG_RESPONSE 0x11
@@ -88,13 +90,15 @@
//Poll
#define ANC_TYPE_IDX 14
//respose
-#define DIST_IDX 10
-#define ANCTIMEMS 14
-#define ANCTIMEUS 16
-#define MAINBASE_INDEX 18
-#define MOTORSTATE_INDEX 19
-#define NR_NEARSWITCH_DISTANCE 20
-#define REMOTEPARA_INDEX 22
+#define DIST_IDX 10
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
+#define MAINBASE_INDEX 18
+#define MOTORSTATE_INDEX 19
+#define NR_NEARSWITCH_DISTANCE 20
+#define REMOTEPARA_INDEX 22
+#define MAXRANGE_DISTANCE 22
+#define ANC_SIGNALPOWER 24
#define TAGSLOTPOS 7
//Final
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index 95261ea..37bc3c7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -39,17 +39,18 @@
g_com_map[ANC_POLL]=0;
g_com_map[ALARM_DEV] = 0;
g_com_map[NEARSWITCH_DISTANCE_INDEX] = 0; //默认报警距离50cm
- g_com_map[ALARM_DISTANCE2] = 0; //默认报警距离50cm
+// g_com_map[ALARM_DISTANCE2] = 0; //默认报警距离50cm
g_com_map[ALARM_DISTANCE3] = 0; //默认报警距离50cm
g_com_map[HEARTBEAT]=1;
g_com_map[CNT_RESTART]=0;
g_com_map[CNT_REBOOT]=0;
g_com_map[CNT_UPDATE]=0;
- g_com_map[NEARBASE_NUM]=0;
+ g_com_map[NEARBASE_NUM]=5;
g_com_map[POWER]=DEFAULT_RFPOWER;
g_com_map[SYNCBASEID] = 0;
g_com_map[BASESYNCSEQ] = 0;
g_com_map[HEIGHTOFFEST_INDEX] = 0;
+ g_com_map[MAXRANGDIST_INDEX] = 65535;
memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
//save_com_map_to_flash();
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index 9f3dbcc..d4eafd8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -21,7 +21,7 @@
#define ALARM_DEV 0x9 //是哪个设备报警
#define ALARM_DISTANCE1 0xA //小于多少距离报警
#define NEARSWITCH_DISTANCE_INDEX 0x0A
-#define ALARM_DISTANCE2 0xB //小于多少距离报警
+#define MAXRANGDIST_INDEX 0xB //小于多少距离报警
#define ALARM_DISTANCE3 0xC //小于多少距离报警
#define PAIR_ID 0xD //小于多少距离报警
#define HEARTBEAT 0xE
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 7e1f98c..a28753b 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -72,6 +72,7 @@
if(g_com_map[IMU_THRES]<1)
{g_com_map[IMU_THRES]=1;}
}
+u16 decid;
void Program_Init(void)
{ float temp;
u16 temp2;
@@ -94,14 +95,15 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x021a;
+ g_com_map[VERSION] = 0x021e;
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
module_power = g_com_map[POWER];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
- anchor_type = dev_id%3;
+ decid = (g_com_map[DEV_ID]/0x1000)*1000+((g_com_map[DEV_ID]%0x1000)/0x100)*100+((g_com_map[DEV_ID]%0x100)/0x10)*10+((g_com_map[DEV_ID]%0x10));
+ anchor_type = decid%g_com_map[MAX_REPORT_ANC_NUM];
@@ -160,7 +162,7 @@
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
-u16 heartbeat_timer,poll_timer;
+u16 heartbeat_timer=58000,poll_timer;
int16_t sync_timer;
extern u8 flag_newsecond, tagpos_rec[50], tagpos_send[50],ancidlist_num;
uint32_t tagpos_binary;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index 25f52ea..0be95b9 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -46,7 +46,7 @@
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //??TIMx??????
- main_logic();
+// main_logic();
time32_incr++;
heartbeat_timer++;
sync_timer++;
--
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