From 92b9bc4ba9b0e75055cffa06ecf7316137d8d14b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 28 一月 2021 17:44:26 +0800
Subject: [PATCH] V2.14 1.修复下发震动BUG
---
源码/核心板/Src/application/dw_app.c | 91 +++++++++++++++++++++++++++++++--------------
1 files changed, 63 insertions(+), 28 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 919ddf1..088b3aa 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"
@@ -166,7 +166,7 @@
u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[100],usart_send_anc[100];
-u8 battary,button;
+u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
@@ -918,11 +918,13 @@
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
+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
{
- u8 motorstate;
+
tmp_time=TIM3->CNT;
+ memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
@@ -934,18 +936,6 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
dwt_readdiagnostics(&d1);
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
- {
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
- {
- motorstate =1;
- }else{
- motorstate =0;
- }
if(new_tagid)
{
@@ -958,6 +948,7 @@
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++)
@@ -968,20 +959,23 @@
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
remotetag_paralen = 2+3;
remotetag_para[0] = 2;
- remotetag_para[1] = 6;
+ remotetag_para[1] = pwtag.index;
remotetag_para[2] = 2;
memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
- dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+ 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{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
+ 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
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -997,6 +991,8 @@
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
@@ -1074,6 +1070,8 @@
usart_send[14] = button;
usart_send[15] = firstpath_power;
usart_send[16] = (rx_power-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1090,9 +1088,9 @@
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
@@ -1110,6 +1108,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
@@ -1146,6 +1145,7 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
+ uint16_t checksum;
case POLL:
if (anchor_type == rx_buffer[ANC_TYPE_IDX])
Anchor_RecPoll();
@@ -1174,13 +1174,49 @@
ancidlist_num=g_com_map[NEARBASE_NUM];
tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
- send_len=11+ancidlist_num*2+2;
+ send_len=21+ancidlist_num*2;
dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
}
break;
+ case REG_POLL:
+ for(i=0;i<MAX_REGTAGNUM;i++)
+ {
+ if(tag_id_recv==regtag_map.tagid[i]&®tag_map.remain_time[i]>0)
+ {
+ tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
+ tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
+ ancidlist_num=g_com_map[NEARBASE_NUM];
+ tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
+ send_len=21+ancidlist_num*2;
+ dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ regtag_map.tagid[i] = 0;
+ break;
+ }
+ }
+ if(i==MAX_REGTAGNUM)
+ {
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ usart_send[2]=0x0a;
+ usart_send[3]=20;
+ memcpy(&usart_send[4],&dev_id,2);
+ memcpy(&usart_send[6],&tag_id_recv,2);
+ memcpy(&usart_send[8],&rx_buffer[10],9);
+ usart_send[17] = firstpath_power;
+ checksum = Checksum_u16(&usart_send[2],20);
+ memcpy(&usart_send[22],&checksum,2);
+ UART_PushFrame(usart_send,24);
+ }
+ break;
case NEAR_POLL:
// GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
@@ -1199,11 +1235,10 @@
tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
-
+GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
if(anc_id_recv==dev_id)
{
- GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
- Anchor_RecNearPoll(0);
+ Anchor_RecNearPoll(rec_nearbase_num);
}else{
for(i=0;i<rec_nearbase_num;i++)
@@ -1213,7 +1248,7 @@
{
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i+1);
+ Anchor_RecNearPoll(i);
break;
}
}
--
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