From 0b743fcf84103459673ec08ed683a9c767f7b367 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 28 六月 2020 08:30:56 +0800
Subject: [PATCH] 增加标签电机控制
---
源码/核心板/Src/application/dw_app.c | 65 ++++++++++++++++++++++----------
1 files changed, 45 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 6b1ce81..5c15035 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"
@@ -208,17 +208,24 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-u16 current_slotnum,total_slotnum,target_time;
+u16 current_slotnum,total_slotnum,target_time,last_time;
+u32 rec_tagpos_binary;
+extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
- if(current_slotnum>=total_slotnum)
+ current_slotnum++;
+ if(current_slotnum==total_slotnum)
current_slotnum-=total_slotnum;
//time=5;
target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
- if(target_time>=990&&target_time<1000)
+
+ last_time=target_time;
+ if(target_time>=990&&target_time<992)
{
current_slotnum++;
target_time+=g_com_map[COM_INTERVAL];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
if(target_time>=1000)
{target_time-=1000;}
@@ -303,8 +310,7 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
-u32 rec_tagpos_binary;
-extern uint32_t tagpos_binary;
+
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -341,7 +347,7 @@
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num*0.4)+2;
+ timeout=ceil((float)nearbase_num*0.4)+3;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -414,6 +420,7 @@
}
TIM3->CNT=tmp_time;
}
+ current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
@@ -510,7 +517,8 @@
// random_value=random_value|((temp_adc&0x01)<<i);
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tag_state=GETNEARMSG;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -555,7 +563,7 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
@@ -568,13 +576,13 @@
}
// 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;
@@ -636,6 +644,8 @@
//slottime=ceil((nearbase_num+2)*0.4)+2;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}else{
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
@@ -661,8 +671,9 @@
NearPoll();
break;
}
- current_slotnum++;
+
SetNextPollTime(tyncpoll_time);
+ g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
}
@@ -773,6 +784,7 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
+ u8 motorstate;
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -784,7 +796,20 @@
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
-
+
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
+ {
+ motorstate =3;
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ motorstate =2;
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+ {
+ motorstate =1;
+ }else{
+ motorstate =0;
+ }
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -795,8 +820,8 @@
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(21, 0);//设定发送长度
+ dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22, 0);//设定发送长度
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
battary = rx_buffer[BATTARY_IDX];
@@ -860,7 +885,7 @@
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[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
memcpy(&usart_send[5],&tag_id_recv,2);
--
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