From 66596268c0f602ecc7ccbb34ea2b649108179eea Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 08 六月 2020 08:50:29 +0800
Subject: [PATCH] V1.15
---
源码/核心板/Src/application/dw_app.c | 90 ++++++++++++++++++++++++++-------------------
1 files changed, 52 insertions(+), 38 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 1b499a2..c3f95e8 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"
@@ -251,10 +251,31 @@
// change_base_count=0;
// }
//}
+u8 GetRandomSlotPos(uint32_t emptyslot)
+{
+ u8 i;
+ for(i=dev_id%32;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+return max_slotpos-1;
+}
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;
+u32 rec_tagpos_binary;
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -383,6 +404,9 @@
tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+
if(temp_dist!=0x1ffff)
{
#ifndef USART_INTEGRATE_OUTPUT
@@ -460,22 +484,21 @@
j=0;
if(exsistbase_list[0]==0)
{
- u8 temp_adc,random_value;
- random_value=0;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- tyncpoll_time=(random_value%max_slotpos)*slottime;
+// u8 temp_adc,random_value;
+// random_value=0;
+// for(i=0;i<8;i++)
+// {
+// temp_adc=Get_ADC_Value();
+// random_value=random_value|((temp_adc&0x01)<<i);
+// }
+ tyncpoll_time = (tagslotpos%max_slotpos)*slottime;
}
// tyncpoll_time=0;
next_nearbase_num=0;
for(i=0;i<last_nearbase_num+get_newbase;i++)
{
if(exsistbase_list[i]>0)
- {
-
+ {
next_nearbase_num++;
true_exsistbase_list[j]=exsistbase_list[i];
true_nearbase_idlist[j]=nearbaseid_list[i];
@@ -553,8 +576,7 @@
}
-u8 nearmsg_mainbase=0;
-u32 rec_tagpos_binary;
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -591,9 +613,9 @@
{
next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=rx_buffer[TAGSLOTPOS];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ //tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
@@ -610,13 +632,11 @@
break;
case GETNEARMSG:
- GetNearMsg();
+ GetNearMsg();
break;
case NEARPOLL:
NearPoll();
break;
-
-
}
}
@@ -836,12 +856,10 @@
}
}
}
-
}else{
//printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
@@ -871,16 +889,16 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ 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
- //tag_id_recv = rx_buffer[TAG_ID_IDX];
+ tag_id_recv = rx_buffer[TAG_ID_IDX];
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
-
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -921,10 +939,8 @@
}
break;
- case NEAR_POLL:
-
+ 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)
{
@@ -936,10 +952,16 @@
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];
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
+
for(i=0;i<rec_nearbase_num;i++)
{
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -955,19 +977,11 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
- if(rec_nearbase_num>ancidlist_num)
- {
- ancidlist_num=rec_nearbase_num;
- memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
- }
+
- break;
-
- }
-
- }
- else
- {
+ break;
+ }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
--
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