From 503efc0a0d2ea34213ec87aea5bf63c52c2eb93a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 12 十一月 2019 19:29:18 +0800
Subject: [PATCH] 实现标签时间隙动态更新
---
源码/核心板/Src/application/dw_app.c | 71 +++++++++++++++++++++++++----------
1 files changed, 50 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 58345cd..82c7da6 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"
@@ -79,6 +79,7 @@
//respose
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define TAGSLOTPOS 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -107,7 +108,7 @@
static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
+static uint8_t tx_resp_msg[22] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
@@ -319,6 +320,7 @@
extern uint16_t sync_timer;
u16 tmp_time;
int32_t temp_dist;
+u16 tagslotpos;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
@@ -386,6 +388,7 @@
getsync_flag=1;
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
tmp_time=tmp_time+450;
if(tmp_time>999)
{
@@ -395,6 +398,9 @@
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
+ if(tagslotpos>max_slotpos)
+ tagslotpos=tagslotpos%(max_slotpos+1);
+ tyncpoll_time=(tagslotpos-1)*slottime;
}
memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
@@ -464,19 +470,47 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
-// deca_sleep(10);
}
-// dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
- /* Execute a delay between ranging exchanges. */
+if(getsync_flag==0)
+{
+tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
+}
}
+
int8_t correction_time;
extern uint8_t sync_seq;
+u16 taglist_num=0,taglist_pos;
+u16 tagid_list[TAG_NUM_IN_SYS];
+u8 tagofflinetime[TAG_NUM_IN_SYS];
+void TagListUpdate(void)
+{
+ u16 i,j=0,temp[TAG_NUM_IN_SYS];
+ for(i=0;i<taglist_num;i++)
+ {
+ if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ taglist_num=j;
+}
+u16 CmpTagInList(u16 tagid)
+{u16 i;
+ for(i=0;i<taglist_num;i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return i+1;
+ }
+ return 0;
+}
void Anchor_App(void)
{
@@ -515,19 +549,19 @@
//tag_id_recv = rx_buffer[TAG_ID_IDX];
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);
memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
- //tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
-// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
-// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
-// }else{
-// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
-// }
-
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==0)
+ {
+ tagid_list[taglist_num++]=tag_id_recv;
+ taglist_pos=taglist_num;
+ }
+ tagofflinetime[taglist_pos-1]=0;
if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
tmp_time=TIM3->CNT;
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
-
+ memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
// if(correction_time>10)
// {correction_time++;}
@@ -613,7 +647,6 @@
//dist_cm=33000;
LED0_BLINK; //每成功一次通讯则闪烁一次
- g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
@@ -636,10 +669,6 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
-
-
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
}
}else{
/* Clear RX error events in the DW1000 status register. */
--
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