From d5777a0e26f94314af6408c1dff8d34abf8ff9fc Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 11 四月 2022 17:49:40 +0800
Subject: [PATCH] 去掉基站修改标签参数
---
源码/核心板/Src/application/dw_app.c | 54 +++++++++++++++++++++++++++---------------------------
1 files changed, 27 insertions(+), 27 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 c98ce3b..5567971 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"
@@ -396,7 +396,7 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -838,6 +838,8 @@
}
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
+int32_t filter_dist,filter_speed;
+u8 newmeasure;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -853,19 +855,6 @@
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
- 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)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -873,18 +862,23 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ motorstate =0;
+ 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;
+
+ }
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- if(remotesend_state)
- {
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
- dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
- }else{
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(22, 0);//设定发送长度
- }
+ // }
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -942,12 +936,14 @@
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
+
g_Resttimer=0;
IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
@@ -955,6 +951,8 @@
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=filter_dist;
+ if(!g_com_map[MODBUS_MODE])
+ {
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -973,7 +971,8 @@
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);
anc_report_num++;
- #endif
+ #endif
+ }
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
@@ -1019,6 +1018,8 @@
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
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id==rx_buffer[GROUP_ID_IDX])
+ {
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
@@ -1090,8 +1091,6 @@
#endif
if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
{break;}
- if(group_id!=rx_buffer[GROUP_ID_IDX])
- {break;}
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
@@ -1136,4 +1135,5 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+}
--
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