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.c | 171 ++++++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 151 insertions(+), 20 deletions(-)
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 8562149..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"
@@ -840,6 +840,7 @@
}
return i;
}
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -905,11 +906,44 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
- if(abs(hex_dist-his_dist[taglist_pos])<1000)
- {
- tagdist_list[taglist_pos] = hex_dist;
- }
- his_dist[taglist_pos]=hex_dist;
+if(hex_dist>-1000&&hex_dist<200000)
+ {
+ g_flag_Taggetdist[taglist_pos]=0;
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ {
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = hex_dist;
+ his_dist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
+ #ifndef USART_INTEGRATE_OUTPUT
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = (rx_power-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ 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);
+ anc_report_num++;
+ #endif
+ #ifdef DEBUG_INF
+ printf("序号：%d\r\n",frame_seq_nb2);
+ #endif
+ }else{
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ }
}
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -919,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
+u16 signalpower_list[TAG_NUM_IN_SYS];
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -939,11 +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;
@@ -970,12 +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)
@@ -1054,7 +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
@@ -1108,9 +1145,9 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+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)
@@ -1145,9 +1182,93 @@
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
uint16_t checksum;
- case POLL:
- if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ 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)
+ {
+ 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);
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num;
+
+ memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
+
+ checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
+ memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,19+8*rec_nearbase_num);
+ Anchor_RecPoll();
+ }
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
@@ -1211,6 +1332,7 @@
memcpy(&usart_send[6],&tag_id_recv,2);
memcpy(&usart_send[8],&rx_buffer[10],9);
usart_send[17] = firstpath_power;
+ memcpy(&usart_send[18],&rx_buffer[19],2);
checksum = Checksum_u16(&usart_send[2],20);
memcpy(&usart_send[22],&checksum,2);
UART_PushFrame(usart_send,24);
@@ -1234,15 +1356,22 @@
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
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+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);
@@ -1250,6 +1379,7 @@
usart_send[7] = rx_buffer[SEQUENCEH_IDX];
usart_send[8] = battary;
usart_send[9] = button;
+
memcpy(&usart_send[10],&rec_tagheight,2);
usart_send[12] = tag_frequency;
usart_send[13] = tag_slotpos;
@@ -1259,11 +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);
-
+ }
//////////////////////////////////////////////////////////////
--
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