From 4864dd7a1bf69e16045c18bc19220b3ce9f55c72 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 17 六月 2020 23:49:37 +0800
Subject: [PATCH] V1.18华星测试基站防撞版本
---
源码/核心板/Src/application/dw_app.c | 64 ++++++++++++++------------------
1 files changed, 28 insertions(+), 36 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 ff3a407..ac79717 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"
@@ -284,10 +284,10 @@
}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;
-void NearPoll(void)
+ void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -296,7 +296,6 @@
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
// printf("%d",sync_timer);
- dwt_forcetrxoff();
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;
@@ -379,11 +378,15 @@
temp_sync_timer2=sync_timer;
memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- sync_timer=temp_sync_timer1;
exsistbase_list[0]=KEEP_TIMES;
+
+ if(g_com_map[DEV_ROLE]!=0)
+ {
+ sync_timer=temp_sync_timer1;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//
- tmp_time=tmp_time+650;
+
+ tmp_time=tmp_time+650;
if(tmp_time>999)
{
tmp_time-=999;
@@ -392,13 +395,13 @@
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
-
+ }
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=10;
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
@@ -415,25 +418,10 @@
tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
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
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,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
- }
- //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+
+
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
@@ -503,7 +491,8 @@
// temp_adc=Get_ADC_Value();
// random_value=random_value|((temp_adc&0x01)<<i);
// }
- tyncpoll_time = (tagslotpos%max_slotpos)*slottime;
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -561,13 +550,13 @@
}
// 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;
@@ -584,9 +573,7 @@
// anclost_times=0;
// }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
-
-
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
@@ -628,15 +615,19 @@
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
+ slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
+ dwt_forcetrxoff();
g_Resttimer=0;
switch(tag_state)
{
@@ -845,6 +836,7 @@
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = hex_dist;
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[3] = 17;//数据段长度
--
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