From b930edd3675dbc937717ae680b2aee4593a3e414 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 11 十月 2022 15:49:16 +0800
Subject: [PATCH] V2.52 改正dicpoll FINAL 标志位bug
---
源码/核心板/Src/application/dw_app.c | 65 ++++++++++++++++++--------------
1 files changed, 36 insertions(+), 29 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 a47d904..2df9cea 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"
@@ -7,9 +7,9 @@
NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 3, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
@@ -23,7 +23,7 @@
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
-static uint8_t tx_nearresp_msg[80] = {0};
+static uint8_t tx_nearresp_msg[90] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};
static uint8_t tx_near_msg[80] = {0};
@@ -398,7 +398,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -472,7 +472,7 @@
}
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
-extern u8 remotetag_paralen;
+extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -480,6 +480,7 @@
double Ra, Rb, Da, Db;
int64_t tof_dtu;
u32 errortimes,goodtimes;
+u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -496,7 +497,13 @@
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(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
+ {
+ memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
+ tagpossend_flag = 1;
+ }else{
+ tagpossend_flag = 0;
+ }
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -505,7 +512,7 @@
memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
waittagconfig_reponse=0;
finalsend = 0;
if(pwtag.remain_time>0)
@@ -536,8 +543,8 @@
if(finalsend == 0)
{
memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
- dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(28, 0);//设定发送长度
+ dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//д????????
+ dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?趨???????
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -604,7 +611,7 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
-
+ userdatasend_flag[taglist_pos] =0;
if(hex_dist>-1000&&hex_dist<200000)
{
g_flag_Taggetdist[taglist_pos]=0;
@@ -617,21 +624,21 @@
g_Tagdist[taglist_pos]=hex_dist;
signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
// #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_nb2;//数据段长度
-// memcpy(&usart_send[5],&tag_id_recv,2);
-// memcpy(&usart_send[7],&dev_id,2);
-// memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
-// usart_send[13] = battary;
-// 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);
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ 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);
// #else
// memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
// memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -725,7 +732,7 @@
{
uint16_t checksum;
case DISCOVERPOLL:
- if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
+ if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
{
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -864,7 +871,7 @@
}
}
- if(i==MAX_REGTAGNUM)
+ if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
{
dwt_readdiagnostics(&d1);
LOS(&d1);
@@ -912,9 +919,9 @@
memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
- // if(anc_id_recv == dev_id )
+ if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
{
- usart_send[2] = 0x0c;//正常模式
+ usart_send[2] = 0x0c;//正常模式
usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
memcpy(&usart_send[4],&tag_id_recv,2);
usart_send[6] = rx_buffer[SEQUENCE_IDX];
--
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