From 8e3c571a48a30e8c1bd07dca4786a53d7c9994f5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 19 十月 2020 10:49:54 +0800
Subject: [PATCH] 修改基站临近接收BUG
---
源码/核心板/Src/application/dw_app.c | 60 ++++++++++--------------------------------------------------
1 files changed, 10 insertions(+), 50 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 cb75c4a..32474ef 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"
@@ -551,14 +551,8 @@
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(last_nearbase_num==0)
- {
- get_newbase=1;
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- if(rec_nearbaseid==nearbaseid_list[0])
+
+ if(rec_nearbaseid==mainbase_id)
{
//////////////////////////////////时间同步
temp_sync_timer2=sync_timer;
@@ -593,7 +587,7 @@
rec_nearbasepos=0;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
+ mainbase_dist = temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -611,35 +605,6 @@
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);
- if(temp_dist!=0x1ffff)
- {
- #ifdef TAG_OUTPUT
- #ifndef USART_INTEGRATE_OUTPUT
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- if(g_com_map[DEV_ROLE])
- {
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
- memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
- #endif
- #endif
-
- //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- // result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
- }
-
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -767,17 +732,7 @@
}
report_num=0;
- for (i=0;i<last_nearbase_num;i++)
- {
- nearbaseid_list[i]=true_nearbase_idlist[i];
- nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
- }
+
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
@@ -1227,6 +1182,10 @@
ancidlist_num=rec_nearbase_num;
memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
}
+ if(anc_id_recv==dev_id)
+ {
+ Anchor_RecNearPoll(0);
+ }else{
for(i=0;i<rec_nearbase_num;i++)
{
@@ -1234,10 +1193,11 @@
if(tempid==dev_id)
{
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
+ Anchor_RecNearPoll(i+1);
break;
}
}
+ }
//抢占模式
// if(i==rec_nearbase_num)
// {
--
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