From 388017aa9902a6b41dbb2adcc7cbd3cd37c38691 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 21 七月 2022 16:38:14 +0800
Subject: [PATCH] V1.65
---
源码/核心板/Src/application/dw_app.c | 65 ++++++++++++++++++++++----------
1 files changed, 44 insertions(+), 21 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 d13d021..b1da7db 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"
@@ -314,8 +314,8 @@
return max_slotpos-1;
}
u8 test=0;
-u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
+u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
int32_t rec_extratag_dist;
void NearPoll(void)
@@ -330,6 +330,7 @@
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
+ usartoutput_count = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
@@ -448,6 +449,9 @@
memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ temp_dist = temp_dist&0xffffff;
+ rec_extratag_dist = rec_extratag_dist&0xffffff;
+
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -483,12 +487,13 @@
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;
+ memcpy(&usart_send[9],&temp_dist,4);
+ usart_send[13] = rx_buffer[DIST_IDX+3];
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ usartoutput_count++;
#endif
}
if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
@@ -506,7 +511,7 @@
memcpy(&usart_send[7],&rec_extratag_id,2);
}
memcpy(&usart_send[9],&rec_extratag_dist,4);
- usart_send[13] = battary;
+ usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
@@ -527,6 +532,8 @@
memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ temp_dist = temp_dist&0xffffff;
+ rec_extratag_dist = rec_extratag_dist&0xffffff;
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
@@ -552,12 +559,13 @@
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;
+ memcpy(&usart_send[9],&temp_dist,4);
+ usart_send[13] = rx_buffer[DIST_IDX+3]; //电量集成到距离里面输出了
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ usartoutput_count++;
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -577,9 +585,9 @@
}else{
memcpy(&usart_send[5],&rec_nearbaseid,2);
memcpy(&usart_send[7],&rec_extratag_id,2);
- }
+ }
memcpy(&usart_send[9],&rec_extratag_dist,4);
- usart_send[13] = battary;
+ usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
@@ -694,6 +702,15 @@
// }else{
// anclost_times=0;
// }
+ if(usartoutput_count>=2)
+ {
+ usartoutput_notenough = 0;
+ }else{
+ if(usartoutput_notenough++>10)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ }
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
@@ -785,6 +802,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
+u8 tagseq_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -938,7 +956,10 @@
}else{
motorstate =0;
}
-
+ if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ }
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -949,13 +970,13 @@
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;
- if(remotesend_state)
- {
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
- dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
- }else{
+ tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(remotesend_state<<4)|motorstate;
+// if(remotesend_state)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
+// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+// }else{
if(taglist_pos==1)
{
memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[0], 2);
@@ -968,7 +989,7 @@
}
dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(28, 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
@@ -1042,13 +1063,13 @@
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist = pos_predict[taglist_pos]/10;
- filter_speed = vel_predict[taglist_pos]/10;
+ //filter_speed = vel_predict[taglist_pos];
newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
if(hex_dist>0)
{
@@ -1056,6 +1077,7 @@
}else{
g_Tagdist[taglist_pos]= 1;
}
+ tagseq_list[taglist_pos] = frame_seq_nb2;
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1065,6 +1087,7 @@
if(tagdist_list[taglist_pos]<=0)
tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
@@ -1180,7 +1203,7 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
- memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
+ memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
#ifdef USART_ALL_OUTPUT
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
--
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