From 5b130136a057f2cec4df6b4f14165b503e8ac816 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 31 五月 2020 18:19:17 +0800
Subject: [PATCH] 修改部分bug
---
源码/核心板/Src/application/dw_app.c | 207 +++++++++++++++++++++++++++++++++++----------------
1 files changed, 142 insertions(+), 65 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 b6ba39f..e5cbeb5 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"
@@ -171,14 +171,23 @@
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
+void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+{u8 result;
+ g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
+ dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
+
+
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
+ if(result==0)
+ {
+ while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
}
uint16_t g_Resttimer;
uint8_t result;
@@ -193,20 +202,20 @@
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
-u8 nearbase_num=0;
-u16 nearbaseid_list[10],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
-int32_t mainbase_dist,nearbase_distlist[10],true_nearbase_distlist[MAX_NEARBASE_NUM];
+u8 nearbase_num=0,last_nearbase_num,next_nearbase_num;
+u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
u8 FindNearBasePos(u16 baseid)
{
u8 i;
- for(i=0;i<=nearbase_num;i++)
+ for(i=0;i<last_nearbase_num;i++)
{
if(baseid==nearbaseid_list[i])
return i;
}
- return i+1;
+ return i;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
@@ -240,11 +249,13 @@
change_base_count=0;
}
}
+u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
+u16 temp_sync_timer1,temp_sync_timer2;
void NearPoll(void)
{
- static u8 mainbase_lost_count=0,flag_finalsend;
+ static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
uint32_t frame_len;
uint32_t final_tx_time;
@@ -255,13 +266,15 @@
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;
- if(nearbase_num>=MAX_NEARBASE_NUM)
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
- nearbase_num = MAX_NEARBASE_NUM-1;
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
}
//nearbase_num=0;
+ last_nearbase_num=next_nearbase_num;
+ nearbase_num=next_nearbase_num;
recbase_num=0;
-
tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -272,14 +285,13 @@
dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
-
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- exsistbase_list[i]=0;
flag_finalsend=0;
+ flag_rxon=1;
neartimout_timer=0;
-
- timeout=nearbase_num/4+2;
+ get_newbase=0;
+ timeout=ceil((float)nearbase_num/4)+2;
+ //timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
while(neartimout_timer<timeout)
@@ -292,6 +304,7 @@
if(dw_systime>temp1&&dw_systime<temp2)
{
flag_finalsend=0;
+ flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
@@ -319,26 +332,29 @@
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(nearbase_num==0)
+ if(last_nearbase_num==0)
{
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ get_newbase=1;
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
if(rec_nearbaseid==nearbaseid_list[0])
{
//////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ temp_sync_timer2=sync_timer;
+ memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- exsistbase_list[0]=1;
+ sync_timer=temp_sync_timer1;
+ exsistbase_list[0]=KEEP_TIMES;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//
- tmp_time=tmp_time+450;
+ tmp_time=tmp_time+650;
if(tmp_time>999)
{
tmp_time-=999;
sync_timer++;
- if(sync_timer>=1010)
+ if(sync_timer>=1000)
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
@@ -348,7 +364,7 @@
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=1;
+ exsistbase_list[rec_nearbasepos]=10;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
@@ -384,14 +400,15 @@
//result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- if(rec_nearbasepos>nearbase_num) //发现新的基站
+ if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
{
+ get_newbase=1;
nearbase_num++;
- nearbaseid_list[nearbase_num] = rec_nearbaseid;
+ nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
- exsistbase_list[rec_nearbasepos]=1;
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
@@ -421,9 +438,22 @@
}
}
}
- }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(flag_rxon)
+ {dwt_rxenable(0);
+ }
+ }
}
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+// if(result==0)
+// {
+// while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+// { };
+// }
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
nearbase_num=recbase_num;
j=0;
if(exsistbase_list[0]==0)
@@ -437,44 +467,63 @@
}
tyncpoll_time=(random_value%max_slotpos)*slottime;
}
- for(i=0;i<MAX_NEARBASE_NUM;i++)
+ // tyncpoll_time=0;
+ next_nearbase_num=0;
+ for(i=0;i<last_nearbase_num+get_newbase;i++)
{
- if(exsistbase_list[i]==1)
+ if(exsistbase_list[i]>0)
{
+
+ next_nearbase_num++;
+ true_exsistbase_list[j]=exsistbase_list[i];
true_nearbase_idlist[j]=nearbaseid_list[i];
true_nearbase_distlist[j++]=nearbase_distlist[i];
+ exsistbase_list[i]--;
}
-
}
-
- for(i=0;i<nearbase_num-1;i++)
+
+ if(recbase_num<3)
+ {next_nearbase_num=next_nearbase_num;}
+ last_nearbase_num = next_nearbase_num;
+ for(i=0;i<last_nearbase_num-1;i++)
{
- for(j=0;j<nearbase_num-1;j++)
+ for(j=0;j<last_nearbase_num-1;j++)
{
if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
{
- u32 temp_dist,temp_id;
+ u32 temp_dist,temp_id,temp_exsis;
temp_dist=true_nearbase_distlist[j];
temp_id = true_nearbase_idlist[j];
+ temp_exsis=true_exsistbase_list[i];
true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_exsistbase_list[j]=true_exsistbase_list[j+1];
+
true_nearbase_distlist[j+1]=temp_dist;
true_nearbase_idlist[j+1]=temp_id;
+ true_exsistbase_list[j+1]=temp_exsis;
}
}
}
+
report_num=0;
- for (i=0;i<nearbase_num;i++)
+ for (i=0;i<last_nearbase_num;i++)
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
report_num++;
}
}
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ nearbase_distlist[i]=0x1ffff;
+ }
+
+ // 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
@@ -573,9 +622,9 @@
for(i=0;i<taglist_num;i++)
{
if(memcmp(&tagid,&tagid_list[i],2)==0)
- return i+1;
+ break;
}
- return 0;
+ return i;
}
uint32_t frame_len;
uint32_t resp_tx_time;
@@ -675,10 +724,11 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
-
+ tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(20, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(20, 0);//设定发送长度
+
+ dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(21, 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
battary = rx_buffer[BATTARY_IDX];
@@ -732,6 +782,7 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ g_flag_Taggetdist[taglist_pos]=0;
if(hex_dist>-1000&&hex_dist<100000)
{
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
@@ -757,21 +808,27 @@
anc_report_num++;
#endif
}else{
+ // printf("%d",hex_dist);
misdist_num++;
}
}
}
}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;
void Anchor_App(void)
{
u8 send_len,i;
u16 tempid;
+ uint32_t rec_syncid;
+
g_start_sync_flag=0;
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
@@ -790,18 +847,6 @@
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
//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];
- 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==0)
- {
- tagid_list[taglist_num++]=tag_id_recv;
- taglist_pos=taglist_num;
- new_tagid=1;
- }else{
- new_tagid=0;
- }
- tagofflinetime[taglist_pos-1]=0;
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
@@ -809,13 +854,30 @@
// Anchor_RecPoll();
// break;
case SYNC:
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- SyncPoll(sync_seq);
- }
+
+ memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+ if(rec_syncid<current_syncid)
+ {
+ current_syncid=rec_syncid;
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ synclost_timer=0;
+ //SyncPoll(sync_seq,rec_syncid);
+ }else if(rec_syncid==current_syncid)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+5;
+ sync_timer = sync_seq*325/1000+995;
+ synclost_timer=0;
+ //SyncPoll(sync_seq,rec_syncid);
+ }
+
+ }
break;
// case NEAR_MSG:
// if(anc_id_recv==dev_id)
@@ -834,6 +896,21 @@
//
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)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
+
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
for(i=0;i<rec_nearbase_num;i++)
--
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