From 40a60c4d3d0d3859d93f239beadc3de7128ece4b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 07 七月 2022 15:49:06 +0800
Subject: [PATCH] Revert "V1.64 增加碰撞随机跳时间片"
---
源码/核心板/Src/application/dw_app.c | 142 +++++++++++++++++++++++++++++++++++-----------
1 files changed, 107 insertions(+), 35 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 20612af..67acfdd 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"
@@ -50,7 +50,7 @@
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
-
+extern u16 supergroupid;
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -314,10 +314,10 @@
return max_slotpos-1;
}
u8 test=0;
-u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-u16 temp_sync_timer1,temp_sync_timer2;
-
+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)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -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)
{
@@ -399,7 +400,7 @@
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)&&rx_buffer[GROUP_ID_IDX] == group_id) //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]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //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
@@ -443,8 +444,14 @@
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
-
+
+ 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)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -464,10 +471,10 @@
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&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
+ IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -480,18 +487,37 @@
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)
+ {
+ #ifdef USART_SINGLE_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],&rec_extratag_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }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] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
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{
@@ -503,8 +529,11 @@
nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
-
+ 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)
@@ -516,7 +545,7 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff)
{
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
@@ -530,18 +559,41 @@
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
// 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
}
+ if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
+ {
+ #ifdef USART_SINGLE_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],&rec_extratag_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }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] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+ #endif
+ }
}
}
}else{
@@ -650,6 +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);
}
@@ -902,19 +963,29 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ 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{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
- }
+ 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);
+ memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[0], 4);
+ }
+ if(taglist_pos==0)
+ {
+ memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[1], 2);
+ memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[1], 4);
+ }
+ 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
@@ -936,13 +1007,13 @@
{
return 1;
}
- 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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&(rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //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;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
- u8 si;
+ u8 si;
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -1011,6 +1082,7 @@
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;
@@ -1069,7 +1141,7 @@
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])
+ if((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid))
{
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
@@ -1126,7 +1198,7 @@
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
--
Gitblit v1.9.3