From 612814daf9bb44c4104ab3708d8a5fcba6f2a6d5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 23 七月 2021 14:25:42 +0800
Subject: [PATCH] 增加继电器控制时间，还有速度显示
---
源码/核心板/Src/application/dw_app.c | 16 +++++++++++-----
1 files changed, 11 insertions(+), 5 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 c98ce3b..17a2dd3 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"
@@ -396,7 +396,7 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -838,6 +838,8 @@
}
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
+int32_t filter_dist,filter_speed;
+u8 newmeasure;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -873,6 +875,7 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -942,12 +945,14 @@
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
+
g_Resttimer=0;
IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
@@ -1019,6 +1024,8 @@
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//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
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id==rx_buffer[GROUP_ID_IDX])
+ {
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
@@ -1090,8 +1097,6 @@
#endif
if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
{break;}
- if(group_id!=rx_buffer[GROUP_ID_IDX])
- {break;}
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
@@ -1136,4 +1141,5 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+}
--
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