From e0c70da5ce5b2504d2ac4cce68376d1ab5cdf208 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 21 五月 2021 17:01:25 +0800
Subject: [PATCH] 标签输出坐标，测试完成
---
源码/核心板/Src/application/dw_app.c | 54 ++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 38 insertions(+), 16 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 c953fae..8abd7f6 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"
@@ -953,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
-
+u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -970,7 +970,14 @@
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)
+ {
+ memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
+ tagpossend_flag = 1;
+ }else{
+ tagpossend_flag = 0;
+ }
+
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -983,7 +990,7 @@
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
waittagconfig_reponse=0;
finalsend = 0;
- if(pwtag.remain_time>0)
+ if(pwtag.remain_time>0)//远程修改标签参数
{uint8_t i;
for(i=0;i<pwtag.groupnum;i++)
{
@@ -1008,8 +1015,8 @@
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
+ dwt_writetxdata(24+tagpossend_flag*16, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+tagpossend_flag*16, 0);//设定发送长度
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1142,7 +1149,7 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
int32_t recnearbaselist_dist[30];
@@ -1183,18 +1190,31 @@
//if (anchor_type == rx_buffer[ANC_TYPE_IDX])
if(dev_id==anc_id_recv)
{
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
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];
+
////////////////基站汇总模式数据
- memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
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(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
+ usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
memcpy(&usart_send[4],&tag_id_recv,2);
usart_send[6] = rx_buffer[SEQUENCE_IDX];
usart_send[7] = rx_buffer[SEQUENCEH_IDX];
@@ -1205,14 +1225,15 @@
usart_send[13] = tag_slotpos;
usart_send[14] = 0;
usart_send[15] = 0;
- usart_send[16] = rec_nearbase_num+1;
+ usart_send[16] = rec_nearbase_num;
- memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num+2);
- memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
-
- checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
- memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,27+8*rec_nearbase_num);
+ memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
+
+ checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
+ memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,19+8*rec_nearbase_num);
Anchor_RecPoll();
}
break;
@@ -1278,6 +1299,7 @@
memcpy(&usart_send[6],&tag_id_recv,2);
memcpy(&usart_send[8],&rx_buffer[10],9);
usart_send[17] = firstpath_power;
+ memcpy(&usart_send[18],&rx_buffer[19],2);
checksum = Checksum_u16(&usart_send[2],20);
memcpy(&usart_send[22],&checksum,2);
UART_PushFrame(usart_send,24);
--
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