From 058a874b0572507e34eeec50194ba8e99976564f Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期六, 22 八月 2020 14:33:15 +0800 Subject: [PATCH] V1.26 修改1千米限制 --- 源码/核心板/Src/application/dw_app.c | 61 +++++++++++++++++++++++------- 1 files changed, 46 insertions(+), 15 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 b3dbb91..16a2c81 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" @@ -28,7 +28,7 @@ static uint8_t tx_near_msg[80] = {0}; -static uint32_t frame_seq_nb = 0; + uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0; static uint32_t status_reg = 0; static uint8_t rx_buffer[100]; static uint64_t poll_tx_ts; @@ -347,7 +347,7 @@ flag_rxon=1; neartimout_timer=0; get_newbase=0; - timeout=ceil((float)nearbase_num*0.4)+3; + timeout=ceil((float)nearbase_num*SLOT_SCALE)+3; //timeout=5; mainbase_dist=100000; mainbase_lost_count++; @@ -446,7 +446,32 @@ 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) + { + #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_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[9],&rx_buffer[DIST_IDX],4); + usart_send[13] = battary; + usart_send[14] = button; + checksum = Checksum_u16(&usart_send[2],17); + memcpy(&usart_send[19],&checksum,2); + UART_PushFrame(usart_send,21); + #endif + + //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 + } }else{ @@ -477,8 +502,14 @@ 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); + 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[9],&rx_buffer[DIST_IDX],4); usart_send[13] = battary; usart_send[14] = button; @@ -580,13 +611,13 @@ } // printf("%d,%d",temp_sync_timer2,temp_sync_timer1); -// #ifdef USART_INTEGRATE_OUTPUT -// usart_send[2] = 4;//正常模式 -// usart_send[3] = report_num*6+2;//正常模式 -// checksum = Checksum_u16(&usart_send[2],report_num*6+2); -// memcpy(&usart_send[4+report_num*6],&checksum,2); -// UART_PushFrame(usart_send,6+report_num*6); -// #endif + #ifdef USART_INTEGRATE_OUTPUT + usart_send[2] = 4;//正常模式 + usart_send[3] = report_num*6+2;//正常模式 + checksum = Checksum_u16(&usart_send[2],report_num*6+2); + memcpy(&usart_send[4+report_num*6],&checksum,2); + UART_PushFrame(usart_send,6+report_num*6); + #endif // if(mainbase_lost_count>5) // { // //tag_state=DISCPOLL; @@ -735,7 +766,7 @@ battary = rx_buffer[BATTARY_IDX]; button = rx_buffer[BUTTON_IDX]; - frame_seq_nb = rx_buffer[SEQUENCE_IDX]; + frame_seq_nb2 = rx_buffer[SEQUENCE_IDX]; if(result==0) { while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误 @@ -837,7 +868,7 @@ battary = rx_buffer[BATTARY_IDX]; button = rx_buffer[BUTTON_IDX]; - frame_seq_nb = rx_buffer[SEQUENCE_IDX]; + frame_seq_nb2 = rx_buffer[SEQUENCE_IDX]; if(result==0) { while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误 @@ -887,7 +918,7 @@ dis_after_filter=dist_cm; hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; g_flag_Taggetdist[taglist_pos]=0; - if(hex_dist>-1000&&hex_dist<100000) + if(hex_dist>-1000&&hex_dist<200000) { if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3) { @@ -898,7 +929,7 @@ #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_nb;//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); -- Gitblit v1.9.3