From 650a51bb30a4c8c97898648f72d826fbc1a8a59a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 16 五月 2020 16:27:13 +0800
Subject: [PATCH] 未测试，修改成多次丢失才切换模式
---
源码/核心板/Src/application/dw_app.c | 36 ++++++++++++++++++++----------------
1 files changed, 20 insertions(+), 16 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..3f127fc 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"
@@ -202,7 +202,7 @@
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];
uint8_t trygetnearmsg_times;
@@ -266,11 +266,12 @@
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;
recbase_num=0;
tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
@@ -282,9 +283,6 @@
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;
@@ -334,9 +332,9 @@
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
if(nearbase_num==0)
{
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
if(rec_nearbaseid==nearbaseid_list[0])
{
@@ -345,7 +343,7 @@
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]=10;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//
tmp_time=tmp_time+450;
@@ -363,7 +361,7 @@
// 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;
@@ -406,7 +404,7 @@
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
- exsistbase_list[rec_nearbasepos]=1;
+ exsistbase_list[rec_nearbasepos]=10;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
@@ -465,19 +463,21 @@
}
tyncpoll_time=(random_value%max_slotpos)*slottime;
}
- for(i=0;i<MAX_NEARBASE_NUM;i++)
+ next_nearbase_num=0;
+ for(i=0;i<last_nearbase_num;i++)
{
- if(exsistbase_list[i]==1)
+ if(exsistbase_list[i]-->0)
{
+ next_nearbase_num++;
true_nearbase_idlist[j]=nearbaseid_list[i];
true_nearbase_distlist[j++]=nearbase_distlist[i];
}
}
- for(i=0;i<nearbase_num-1;i++)
+ 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])
{
@@ -503,6 +503,10 @@
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
--
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