From fa5a89bd9f87ef619619194d00cd495d165e1f12 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 27 六月 2020 19:33:44 +0800
Subject: [PATCH] V1.19 测试10对10 200ms防撞。
---
源码/核心板/Src/application/dw_app.c | 70 ++++++++++++++++++++++++++---------
1 files changed, 52 insertions(+), 18 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 ac79717..53978d4 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"
@@ -208,7 +208,31 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
+u16 current_slotnum,total_slotnum,target_time,last_time;
+u32 rec_tagpos_binary;
+extern uint32_t tagpos_binary;
+void SetNextPollTime(u16 time)
+{
+ current_slotnum++;
+ if(current_slotnum==total_slotnum)
+ current_slotnum-=total_slotnum;
+ //time=5;
+ target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
+ last_time=target_time;
+ if(target_time>=990&&target_time<992)
+ {
+ current_slotnum++;
+ target_time+=g_com_map[COM_INTERVAL];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ }
+ if(target_time>=1000)
+ {target_time-=1000;}
+ if(target_time<0)
+ {target_time+=1000;}
+
+}
u8 FindNearBasePos(u16 baseid)
{
u8 i;
@@ -265,7 +289,7 @@
{
u8 i,temp_value;
temp_value = GetRandomValue();
- for(i=temp_value%32;i<max_slotpos;i++)
+ for(i=temp_value%max_slotpos;i<max_slotpos;i++)
{
if(((emptyslot>>i)&0x1)==0)
{
@@ -286,7 +310,7 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
-u32 rec_tagpos_binary;
+
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -323,7 +347,7 @@
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num/4)+2;
+ timeout=ceil((float)nearbase_num*0.4)+3;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -396,6 +420,7 @@
}
TIM3->CNT=tmp_time;
}
+ current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
@@ -491,8 +516,9 @@
// temp_adc=Get_ADC_Value();
// random_value=random_value|((temp_adc&0x01)<<i);
// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tag_state=GETNEARMSG;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -537,7 +563,7 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
@@ -550,13 +576,13 @@
}
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
-// #ifdef USART_INTEGRATE_OUTPUT
-// usart_send[2] = 4;//正常模式
-// usart_send[3] = report_num*6+2;//正常模式
-// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
-// memcpy(&usart_send[4+report_num*6],&checksum,2);
-// UART_PushFrame(usart_send,6+report_num*6);
-// #endif
+ #ifdef USART_INTEGRATE_OUTPUT
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,6+report_num*6);
+ #endif
// if(mainbase_lost_count>5)
// {
// //tag_state=DISCPOLL;
@@ -572,7 +598,7 @@
// }else{
// anclost_times=0;
// }
-
+dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
@@ -615,13 +641,16 @@
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
+ //slottime=ceil((nearbase_num+2)*0.4)+2;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}else{
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
+
}
void Tag_App(void)//发送模式(TAG标签)
@@ -629,6 +658,7 @@
//LED0_ON;
dwt_forcetrxoff();
g_Resttimer=0;
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
case DISCPOLL:
@@ -642,6 +672,9 @@
break;
}
+ SetNextPollTime(tyncpoll_time);
+ g_start_send_flag = 0;
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
}
int8_t correction_time,new_tagid=0;
@@ -867,7 +900,6 @@
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
-extern uint32_t tagpos_binary;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -877,15 +909,17 @@
u16 tempid;
uint32_t rec_syncid;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
g_start_sync_flag=0;
+
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
-
+// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
{
IdleTask();
};
-
+//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
--
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