From dcac514bc4be1c6acfd7cf92ce609d282ba55f1c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 10 十一月 2020 20:48:07 +0800
Subject: [PATCH] V2.13 1增加临近距离判断 2增加注册包超时清空机制
---
源码/核心板/Src/application/dw_app.h | 3
源码/核心板/Src/application/global_param.c | 2
源码/核心板/Src/main.c | 2
源码/核心板/Src/application/serial_at_cmd_app.c | 1
源码/核心板/Src/stm32f10x_it.c | 9 ++
源码/核心板/MDK-ARM/Project.uvoptx | 40 +------------
源码/核心板/Src/application/global_param.h | 1
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 76 ++++++++++++------------
源码/核心板/Src/application/serial_at_cmd_app.h | 2
源码/核心板/Src/application/dw_app.c | 20 +++---
10 files changed, 68 insertions(+), 88 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 1e7f3b8..4223bc8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -93,25 +93,25 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>0</Top>
- <Left>-5</Left>
- <Right>1284</Right>
- <Bottom>685</Bottom>
+ <Top>-8</Top>
+ <Left>-8</Left>
+ <Right>1544</Right>
+ <Bottom>832</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
<Len>2613</Len>
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</Buttons>
<OriginalItems>
<Len>1423</Len>
@@ -3579,7 +3579,7 @@
<Name>Debug</Name>
<Buttons>
<Len>2362</Len>
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</Buttons>
<OriginalItems>
<Len>898</Len>
@@ -3603,30 +3603,30 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>2</ActiveTab>
+ <ActiveTab>5</ActiveTab>
<Doc>
<Name>..\Src\application\serial_at_cmd_app.c</Name>
- <ColumnNumber>29</ColumnNumber>
- <TopLine>114</TopLine>
- <CurrentLine>121</CurrentLine>
+ <ColumnNumber>42</ColumnNumber>
+ <TopLine>122</TopLine>
+ <CurrentLine>131</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\serial_at_cmd_app.h</Name>
- <ColumnNumber>41</ColumnNumber>
+ <ColumnNumber>28</ColumnNumber>
<TopLine>1</TopLine>
- <CurrentLine>21</CurrentLine>
+ <CurrentLine>18</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>29</ColumnNumber>
- <TopLine>87</TopLine>
- <CurrentLine>96</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>225</TopLine>
+ <CurrentLine>237</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3651,18 +3651,18 @@
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>46</ColumnNumber>
- <TopLine>917</TopLine>
- <CurrentLine>932</CurrentLine>
+ <ColumnNumber>78</ColumnNumber>
+ <TopLine>912</TopLine>
+ <CurrentLine>921</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.h</Name>
- <ColumnNumber>38</ColumnNumber>
- <TopLine>53</TopLine>
- <CurrentLine>60</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>82</TopLine>
+ <CurrentLine>91</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3678,8 +3678,8 @@
</Doc>
<Doc>
<Name>..\Src\decadriver\deca_device.c</Name>
- <ColumnNumber>0</ColumnNumber>
- <TopLine>2737</TopLine>
+ <ColumnNumber>15</ColumnNumber>
+ <TopLine>2753</TopLine>
<CurrentLine>2765</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3696,9 +3696,9 @@
</Doc>
<Doc>
<Name>..\Src\stm32f10x_it.c</Name>
- <ColumnNumber>0</ColumnNumber>
+ <ColumnNumber>38</ColumnNumber>
<TopLine>51</TopLine>
- <CurrentLine>70</CurrentLine>
+ <CurrentLine>62</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3751,8 +3751,8 @@
<Doc>
<Name>..\Src\application\global_param.h</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>22</TopLine>
- <CurrentLine>28</CurrentLine>
+ <TopLine>11</TopLine>
+ <CurrentLine>23</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3813,9 +3813,9 @@
</Doc>
<Doc>
<Name>..\Src\application\global_param.c</Name>
- <ColumnNumber>0</ColumnNumber>
+ <ColumnNumber>41</ColumnNumber>
<TopLine>17</TopLine>
- <CurrentLine>50</CurrentLine>
+ <CurrentLine>41</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index ba1db27..a1c65c8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -167,50 +167,18 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
- <LineNumber>126</LineNumber>
+ <LineNumber>948</LineNumber>
<EnabledFlag>1</EnabledFlag>
- <Address>134254042</Address>
+ <Address>134242440</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\serial_at_cmd_app.c</Filename>
+ <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
<ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\126</Expression>
- </Bp>
- <Bp>
- <Number>1</Number>
- <Type>0</Type>
- <LineNumber>2765</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>134257856</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\decadriver\deca_device.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/decadriver/deca_device.c\2765</Expression>
- </Bp>
- <Bp>
- <Number>2</Number>
- <Type>0</Type>
- <LineNumber>1189</LineNumber>
- <EnabledFlag>1</EnabledFlag>
- <Address>0</Address>
- <ByteObject>0</ByteObject>
- <HtxType>0</HtxType>
- <ManyObjects>0</ManyObjects>
- <SizeOfObject>0</SizeOfObject>
- <BreakByAccess>0</BreakByAccess>
- <BreakIfRCount>0</BreakIfRCount>
- <Filename>..\Src\application\dw_app.c</Filename>
- <ExecCommand></ExecCommand>
- <Expression></Expression>
+ <Expression>\\UWB_Projects\../Src/application/dw_app.c\948</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
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 1f0e5fe..2227003 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"
@@ -918,11 +918,12 @@
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 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);
@@ -960,16 +961,16 @@
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;
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
+ 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)
@@ -1177,7 +1178,7 @@
case REG_POLL:
for(i=0;i<MAX_REGTAGNUM;i++)
{
- if(tag_id_recv==regtag_map.tagid[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];
@@ -1192,6 +1193,7 @@
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;
}
}
@@ -1231,7 +1233,7 @@
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
if(anc_id_recv==dev_id)
{
- Anchor_RecNearPoll(0);
+ Anchor_RecNearPoll(rec_nearbase_num);
}else{
for(i=0;i<rec_nearbase_num;i++)
@@ -1241,7 +1243,7 @@
{
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i+1);
+ Anchor_RecNearPoll(i);
break;
}
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index e20e179..411bd5b 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -92,7 +92,8 @@
#define ANCTIMEUS 16
#define MAINBASE_INDEX 18
#define MOTORSTATE_INDEX 19
-#define REMOTEPARA_INDEX 20
+#define NR_NEARSWITCH_DISTANCE 20
+#define REMOTEPARA_INDEX 22
#define TAGSLOTPOS 7
//Final
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
index dd96812..e659858 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.c"
@@ -38,7 +38,7 @@
// #endif
g_com_map[ANC_POLL]=0;
g_com_map[ALARM_DEV] = 0;
- g_com_map[ALARM_DISTANCE1] = 0; //默认报警距离50cm
+ g_com_map[NEARSWITCH_DISTANCE_INDEX] = 0; //默认报警距离50cm
g_com_map[ALARM_DISTANCE2] = 0; //默认报警距离50cm
g_com_map[ALARM_DISTANCE3] = 0; //默认报警距离50cm
g_com_map[HEARTBEAT]=0;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
index eb4f28f..697fa6e 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/global_param.h"
@@ -20,6 +20,7 @@
#define ALARM_DEV 0x9 //是哪个设备报警
#define ALARM_DISTANCE1 0xA //小于多少距离报警
+#define NEARSWITCH_DISTANCE_INDEX 0x0A
#define ALARM_DISTANCE2 0xB //小于多少距离报警
#define ALARM_DISTANCE3 0xC //小于多少距离报警
#define PAIR_ID 0xD //小于多少距离报警
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
index 0ec6dc1..4b56af1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
@@ -130,6 +130,7 @@
regtag_map.index++;
if(regtag_map.index==MAX_REGTAGNUM)
{regtag_map.index = 0;}
+ regtag_map.remain_time[regtag_map.index]=5;
memcpy(®tag_map.tagid[regtag_map.index],&mUsartReceivePack[0],2);
memcpy(®tag_map.tag_frequency[regtag_map.index],&mUsartReceivePack[2],2);
memcpy(®tag_map.tag_slotpos[regtag_map.index],&mUsartReceivePack[4],2);
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.h"
index 2419b40..55ce788 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.h"
@@ -15,7 +15,7 @@
};
struct regtag_structure
{
- uint8_t index;
+ uint8_t index,remain_time[PWTAG_MAXGROUPNUM];
uint16_t tagid[MAX_REGTAGNUM],tag_frequency[MAX_REGTAGNUM],tag_slotpos[MAX_REGTAGNUM];
};
extern struct regtag_structure regtag_map;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index adf37f1..0a846aa 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -93,7 +93,7 @@
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x020b;
+ g_com_map[VERSION] = 0x020d;
dev_id = g_com_map[DEV_ID];
slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*SLOT_SCALE)+3;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index cdbe041..25f52ea 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -54,7 +54,14 @@
synclost_timer++;
GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);
if(sync_timer>=1000)
- {
+ {uint8_t i;
+ for(i=0;i<MAX_REGTAGNUM;i++)
+ {
+ if(regtag_map.remain_time[i]>0)
+ {
+ regtag_map.remain_time[i]--;
+ }
+ }
if(pwtag.remain_time>0)
{pwtag.remain_time--;}
flag_newsecond=1;
--
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