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 | 163 ++++++++++++++++++++++++++++++------------------------
1 files changed, 91 insertions(+), 72 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 1b499a2..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"
@@ -251,11 +251,43 @@
// change_base_count=0;
// }
//}
+uint8_t GetRandomValue(void)
+{
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0;i<8;i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
+}
+u8 GetRandomSlotPos(uint32_t emptyslot)
+{
+ u8 i,temp_value;
+ temp_value = GetRandomValue();
+ for(i=temp_value%32;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+return max_slotpos-1;
+}
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;
-void NearPoll(void)
+u32 rec_tagpos_binary;
+ void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -264,7 +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;
@@ -347,11 +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;
@@ -360,13 +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;
@@ -383,23 +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
- 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
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+
+
+
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
@@ -418,6 +440,8 @@
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
LED0_BLINK;
+// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
#ifndef USART_INTEGRATE_OUTPUT
@@ -460,22 +484,22 @@
j=0;
if(exsistbase_list[0]==0)
{
- u8 temp_adc,random_value;
- random_value=0;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- tyncpoll_time=(random_value%max_slotpos)*slottime;
+// u8 temp_adc,random_value;
+// random_value=0;
+// for(i=0;i<8;i++)
+// {
+// temp_adc=Get_ADC_Value();
+// random_value=random_value|((temp_adc&0x01)<<i);
+// }
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
// tyncpoll_time=0;
next_nearbase_num=0;
for(i=0;i<last_nearbase_num+get_newbase;i++)
{
if(exsistbase_list[i]>0)
- {
-
+ {
next_nearbase_num++;
true_exsistbase_list[j]=exsistbase_list[i];
true_nearbase_idlist[j]=nearbaseid_list[i];
@@ -526,13 +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;
@@ -549,12 +573,9 @@
// 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;
-u32 rec_tagpos_binary;
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -591,18 +612,22 @@
{
next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=rx_buffer[TAGSLOTPOS];
+ 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)
{
@@ -610,13 +635,11 @@
break;
case GETNEARMSG:
- GetNearMsg();
+ GetNearMsg();
break;
case NEARPOLL:
NearPoll();
break;
-
-
}
}
@@ -813,6 +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
@@ -836,12 +860,10 @@
}
}
}
-
}else{
//printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
@@ -862,25 +884,26 @@
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
{
IdleTask();
- g_Resttimer=0;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
+
+ g_Resttimer=0;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ 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
- //tag_id_recv = rx_buffer[TAG_ID_IDX];
+ tag_id_recv = rx_buffer[TAG_ID_IDX];
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
-
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -921,10 +944,8 @@
}
break;
- case NEAR_POLL:
-
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
@@ -936,10 +957,16 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
+
for(i=0;i<rec_nearbase_num;i++)
{
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -955,19 +982,11 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
- if(rec_nearbase_num>ancidlist_num)
- {
- ancidlist_num=rec_nearbase_num;
- memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
- }
+
- break;
-
- }
-
- }
- else
- {
+ break;
+ }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
--
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