From 5bdc868b2ef673bbce5e0abbc2a7bf8f7f8fa55e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 27 四月 2021 11:59:30 +0800
Subject: [PATCH] V2.17 增加基站汇总模式，青岛待测试
---
源码/核心板/Src/application/dw_app.c | 70 ++++++++++++++++++++++++++--------
1 files changed, 53 insertions(+), 17 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 2227003..c9eaf86 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"
@@ -165,7 +165,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[100],usart_send_anc[100];
+u8 usart_send[150],usart_send_anc[100];
u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -863,8 +863,7 @@
dwt_writetxfctrl(sizeof(tx_resp_msg), 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];
- button = rx_buffer[BUTTON_IDX];
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -918,6 +917,7 @@
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
+u8 finalsend=0;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -947,6 +947,7 @@
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
waittagconfig_reponse=0;
+ finalsend = 0;
if(pwtag.remain_time>0)
{uint8_t i;
for(i=0;i<pwtag.groupnum;i++)
@@ -964,11 +965,14 @@
dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度
remotesend_state=0;
+ finalsend = 1;
break;
}
}
+ }
- }else{
+ if(finalsend == 0)
+ {
dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(24, 0);//设定发送长度
}
@@ -983,11 +987,6 @@
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
- battary = rx_buffer[BATTARY_IDX];
- button = rx_buffer[BUTTON_IDX];
- frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
- tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
if(result==0)
{
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -1069,7 +1068,7 @@
usart_send[18] = tag_slotpos;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ // UART_PushFrame(usart_send,21);
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -1083,9 +1082,9 @@
misdist_num[taglist_pos]++;
}
}
- if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
+ if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
{
- waittagconfig_reponse = 0;
+
remotesend_state = 0;
usart_send[2] = 7;//正常模式
usart_send[3] = 5;//数据段长度
@@ -1103,12 +1102,15 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-
+extern int32_t intheight;
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
+u16 recnearbaselist_id[30];
+int32_t recnearbaselist_dist[30];
+int16_t rec_tagheight;
void Anchor_App(void)
{
@@ -1213,7 +1215,8 @@
}
break;
case NEAR_POLL:
- // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -1226,10 +1229,42 @@
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];
-
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num+1;
+ memcpy(&usart_send[17],&anc_id_recv,2);
+ memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
+ memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,27+8*rec_nearbase_num);
+
+ //////////////////////////////////////////////////////////////
+
+
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
if(anc_id_recv==dev_id)
{
@@ -1254,7 +1289,8 @@
// seize_anchor=1; //抢占anchor
// Anchor_RecNearPoll(i);
// }
-
+// if(tag_id_recv==0x4008)
+// printf("标签高度: %d,基站高度: %d,高度差： %d. \r\n",rec_tagheight,intheight,intheight-rec_tagheight);
break;
default:
--
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