From 5b6fe0edc2790d1948c09b191a2a565e8874f875 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 24 五月 2022 09:57:23 +0800
Subject: [PATCH] V1.64 只和3个基站测距
---
源码/核心板/Src/application/dw_app.c | 81 +++++++++++++++++++++++++++++++++++-----
1 files changed, 71 insertions(+), 10 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 d0382df..531fcdb 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"
@@ -294,7 +294,7 @@
}
return random_value;
}
-u8 GetRandomSlotPos(uint32_t emptyslot)
+u8 GetRandomSlotPos(uint32_t emptyslot) //随机选一个位置，如果被占用，则从头到尾选择第一个没被占用的位置
{
u8 i,temp_value;
temp_value = GetRandomValue();
@@ -315,11 +315,24 @@
}
return max_slotpos-1;
}
+void OutputUserData(u16 devid,u8* addr,u8 len)
+{
+ len++;
+ usart_send[2] = 0x11;//正常模式
+ usart_send[3] = len+4;//数据段长度
+ memcpy(&usart_send[4],&devid,2);
+ memcpy(&usart_send[6],addr,len);
+ checksum = Checksum_u16(&usart_send[2],len+4);
+ memcpy(&usart_send[len+6],&checksum,2);
+ UART_PushFrame(usart_send,len+8);
+}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-u16 temp_sync_timer1,temp_sync_timer2;
-
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,temp_sendlen;
+u16 temp_sync_timer1,temp_sync_timer2,rec_userdata_targetid;
+extern u8 userdata[50];
+u8 tagrec_userdata[20],tagrec_datalen;
+extern u32 getuserdata_tick;
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -348,8 +361,17 @@
memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- 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
+ temp_sendlen = 0;
+ if(time32_incr-getuserdata_tick<500)
+ {
+ temp_sendlen +=7;
+ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+3);
+ }else{
+ tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2] = 0;
+ }
+
+ dwt_writetxdata(13+temp_sendlen+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+temp_sendlen+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
flag_finalsend=0;
@@ -437,6 +459,16 @@
rec_nearbasepos=0;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
+ OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
+ }
+ }
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -495,6 +527,16 @@
}
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
+ OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
+ }
+ }
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
@@ -890,14 +932,24 @@
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+
if(remotesend_state)
{
memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
}else{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
+ temp_sendlen = 0;
+ if(time32_incr-getuserdata_tick<500)
+ {
+ temp_sendlen+=7;
+ memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+3);
+ }else{
+ tx_nearresp_msg[RT_USERDATA_INDEX] = 0;
+
+ }
+ dwt_writetxdata(22+temp_sendlen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22+temp_sendlen, 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
@@ -1083,7 +1135,7 @@
}
break;
- case NEAR_POLL:
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
{break;}
@@ -1101,7 +1153,16 @@
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];
-
+ tagrec_datalen = rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2],tagrec_datalen+1);
+ OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);
+ }
+ }
if(rec_nearbase_num>ancidlist_num)
{
ancidlist_num=rec_nearbase_num;
--
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