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 | 130 +++++++++++++++++++++++++-----------------
1 files changed, 77 insertions(+), 53 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 4c15ddf..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"
@@ -202,20 +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;
+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];
+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
@@ -249,8 +249,9 @@
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)
{
@@ -266,11 +267,13 @@
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(nearbase_num>=MAX_NEARBASE_NUM)
+ 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;
@@ -282,14 +285,11 @@
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;
-
+ get_newbase=0;
timeout=ceil((float)nearbase_num/4)+2;
//timeout=5;
mainbase_dist=100000;
@@ -332,11 +332,12 @@
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])
{
@@ -345,15 +346,15 @@
memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
sync_timer=temp_sync_timer1;
- exsistbase_list[0]=1;
+ 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;
@@ -363,7 +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;
@@ -399,14 +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;
@@ -465,44 +467,62 @@
}
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
@@ -602,9 +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;
@@ -704,10 +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];
@@ -761,6 +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)
@@ -825,19 +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)
- {
- synclost_timer=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:
@@ -855,17 +864,17 @@
TIM3->CNT = sync_seq*325%1000+15;
sync_timer = sync_seq*325/1000;
synclost_timer=0;
- SyncPoll(sync_seq,rec_syncid);
+ //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+15;
- sync_timer = sync_seq*325/1000;
+ TIM3->CNT = sync_seq*325%1000+5;
+ sync_timer = sync_seq*325/1000+995;
synclost_timer=0;
- SyncPoll(sync_seq,rec_syncid);
+ //SyncPoll(sync_seq,rec_syncid);
}
}
@@ -887,6 +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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