From 00210b85864e5cfb9887ab113ad8efc06f337eaf Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期一, 07 六月 2021 09:40:03 +0800 Subject: [PATCH] 增加小组ID模式 --- 源码/核心板/Src/application/dw_app.c | 21 +++++++++++++++++---- 1 files changed, 17 insertions(+), 4 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 f4287d6..32db799 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" @@ -137,6 +137,7 @@ * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */ //设置接收超时时间 } +extern u16 group_id; void Dw1000_App_Init(void) { //g_com_map[DEV_ID] = 0x0b; @@ -145,6 +146,10 @@ tx_final_msg[MESSAGE_TYPE_IDX]=FINAL; tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC; + memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1); + memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1); + memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1); + memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2); memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2); memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2); @@ -333,6 +338,7 @@ last_nearbase_num=next_nearbase_num; nearbase_num=next_nearbase_num; recbase_num=0; + tx_nearpoll_msg[GROUP_ID_IDX] = group_id; tx_nearpoll_msg[BATTARY_IDX] = Get_Battary(); tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0; tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++; @@ -390,7 +396,7 @@ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据 dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间,0位没有超时时间 dwt_rxenable(0);//打开接收 - if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据 + if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据 { u16 rec_nearbaseid,rec_nearbasepos; int32_t temp_dist; poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1 @@ -451,6 +457,7 @@ final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts); final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL; + tx_nearfinal_msg[GROUP_ID_IDX] = group_id; 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); @@ -866,6 +873,7 @@ }else{ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4); } + 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]=(remotesend_state<<4)|motorstate; @@ -899,7 +907,7 @@ { return 1; } - if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包 + if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包 { uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts; uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32; @@ -931,7 +939,7 @@ dis_after_filter=dist_cm; hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10; g_flag_Taggetdist[taglist_pos]=0; - if(hex_dist>0&&hex_dist<2000000) + if(hex_dist>-1000&&hex_dist<2000000) { if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3) { @@ -953,7 +961,9 @@ 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[7],&dev_id,2); + if(tagdist_list[taglist_pos]<=0) + tagdist_list[taglist_pos]=10; memcpy(&usart_send[9],&tagdist_list[taglist_pos],4); usart_send[13] = battary; usart_send[14] = button; @@ -1010,6 +1020,8 @@ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2); //将收到的tag_id分别写入各次通讯的包中,为多标签通讯服务,防止一次通讯中接收到不同ID标签的数据 memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2); + if(group_id==rx_buffer[GROUP_ID_IDX]) + { switch(rx_buffer[MESSAGE_TYPE_IDX]) { // case POLL: @@ -1125,4 +1137,5 @@ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); } } +} -- Gitblit v1.9.3