From fc057b986700bbb5dd6bac94c40b4093f2751f7f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 31 十月 2020 16:13:51 +0800
Subject: [PATCH] V2.7 固定时间片9标签20HZ测试通过
---
源码/核心板/Src/application/dw_app.h | 5
源码/核心板/Src/application/global_param.c | 4
源码/核心板/Src/main.c | 28 +++-
源码/核心板/MDK-ARM/Project.uvprojx | 2
源码/核心板/Src/stm32f10x_it.c | 34 ++---
源码/核心板/MDK-ARM/Project.uvoptx | 29 +++-
源码/核心板/Src/application/global_param.h | 2
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 133 ++++++++++++++-------
源码/核心板/Src/ExternalDevices/led.c | 9 +
源码/核心板/Src/application/dw_app.c | 61 ++++-----
10 files changed, 190 insertions(+), 117 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 02103f6..50ba271 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"
@@ -20,7 +20,7 @@
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<ViewName>Code Coverage</ViewName>
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+ <TableColWidths>610 100</TableColWidths>
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<View>
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<Doc>
<Name>..\Src\OnChipDevices\Rcc_Nvic_Systick.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>64</TopLine>
+ <TopLine>42</TopLine>
<CurrentLine>43</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_gpio.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>66</TopLine>
+ <CurrentLine>73</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\led.c</Name>
+ <ColumnNumber>19</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>18</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\ExternalDevices\led.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>1</TopLine>
+ <CurrentLine>14</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.c</Name>
+ <ColumnNumber>36</ColumnNumber>
+ <TopLine>39</TopLine>
+ <CurrentLine>49</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
+ <Doc>
+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_rcc.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>493</TopLine>
+ <CurrentLine>498</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
</MDIGroup>
</MDIGroups>
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 d96c7a5..35c7bb4 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"
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
- <nTsel>6</nTsel>
+ <nTsel>12</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
- <pMon>Segger\JL2CM3.dll</pMon>
+ <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@@ -125,7 +125,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
- <Name>d</Name>
+ <Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -150,7 +150,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
- <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=747,81,1158,476,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
+ <Name>(1010=-1,-1,-1,-1,0)(1007=108,145,295,420,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(100=18,3,664,676,0)(110=-1,-1,-1,-1,0)(111=-1,-1,-1,-1,0)(1011=-1,-1,-1,-1,0)(180=-1,-1,-1,-1,0)(120=767,133,1188,538,0)(121=847,206,1268,611,0)(122=-1,-1,-1,-1,0)(123=-1,-1,-1,-1,0)(140=-1,-1,-1,-1,0)(240=-1,-1,-1,-1,0)(190=-1,-1,-1,-1,0)(200=-1,-1,-1,-1,0)(170=-1,-1,-1,-1,0)(130=-1,-1,-1,-1,0)(131=-1,-1,-1,-1,0)(132=150,26,744,720,0)(133=-1,-1,-1,-1,0)(160=-1,-1,-1,-1,0)(161=-1,-1,-1,-1,0)(162=-1,-1,-1,-1,0)(210=-1,-1,-1,-1,0)(211=-1,-1,-1,-1,0)(220=-1,-1,-1,-1,0)(221=-1,-1,-1,-1,0)(230=-1,-1,-1,-1,0)(231=-1,-1,-1,-1,0)(232=-1,-1,-1,-1,0)(233=-1,-1,-1,-1,0)(150=677,0,1280,634,0)(151=-1,-1,-1,-1,0)</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -158,7 +158,24 @@
<Name>-T0</Name>
</SetRegEntry>
</TargetDriverDllRegistry>
- <Breakpoint/>
+ <Breakpoint>
+ <Bp>
+ <Number>0</Number>
+ <Type>0</Type>
+ <LineNumber>1159</LineNumber>
+ <EnabledFlag>1</EnabledFlag>
+ <Address>134241732</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\dw_app.c</Filename>
+ <ExecCommand></ExecCommand>
+ <Expression>\\UWB_Projects\../Src/application/dw_app.c\1159</Expression>
+ </Bp>
+ </Breakpoint>
<WatchWindow1>
<Ww>
<count>0</count>
@@ -223,7 +240,7 @@
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
- <ItemText>time_monitor[2]-time_monitor[0],0x0A</ItemText>
+ <ItemText>time_monitor[3]-time_monitor[0],0x0A</ItemText>
</Ww>
<Ww>
<count>13</count>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
index b11c3b9..a30bbf1 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvprojx"
@@ -312,7 +312,7 @@
</ArmAdsMisc>
<Cads>
<interw>1</interw>
- <Optim>4</Optim>
+ <Optim>1</Optim>
<oTime>0</oTime>
<SplitLS>0</SplitLS>
<OneElfS>1</OneElfS>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/led.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/led.c"
index 457e7ab..d04ee55 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/led.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/ExternalDevices/led.c"
@@ -5,12 +5,17 @@
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIO clock */
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
+ RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB, ENABLE);
- GPIO_InitStructure.GPIO_Pin = LED0_PIN;
+ GPIO_InitStructure.GPIO_Pin = LED0_PIN|GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(LED0_GPIO, &GPIO_InitStructure);
+
+ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
+ GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+ GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ GPIO_Init(GPIOB, &GPIO_InitStructure);
}
void GPIO_Toggle(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
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 d4c1ad6..919ddf1 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"
@@ -176,14 +176,14 @@
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+void SyncPoll(u8 sync_seq)
{u8 result;
g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
@@ -922,7 +922,6 @@
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
- time_monitor[0] = sync_timer*1000+TIM3->CNT;
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -1025,8 +1024,8 @@
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
- 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
+// 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
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
@@ -1045,13 +1044,13 @@
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
-// dwt_readdiagnostics(&d1);
+ dwt_readdiagnostics(&d1);
// time_monitor[2] = sync_timer*1000+TIM3->CNT;
-// LOS(&d1);
-// time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ LOS(&d1);
+ time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
-
+ GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
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];
@@ -1073,6 +1072,8 @@
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;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1109,8 +1110,9 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
+extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -1134,7 +1136,7 @@
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
-
+ time_monitor[0] = sync_timer*1000+TIM3->CNT;
g_Resttimer=0;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
@@ -1150,28 +1152,17 @@
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
+ if(anc_id_recv==g_com_map[SYNCBASEID])
+ {
+ synclost_count = 0;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
+ TIM3->CNT = (sync_seq*325%1000)-80;
+ sync_timer = (sync_seq*325/1000);
synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+ if(g_com_map[BASESYNCSEQ]==2)
+ SyncPoll(sync_seq);
+ }
break;
case NEAR_MSG:
if(anc_id_recv==dev_id)
@@ -1190,7 +1181,8 @@
}
break;
- case NEAR_POLL:
+ case NEAR_POLL:
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -1210,6 +1202,7 @@
if(anc_id_recv==dev_id)
{
+ GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
Anchor_RecNearPoll(0);
}else{
@@ -1218,6 +1211,7 @@
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+
seize_anchor=0; //非抢占。已存在列表中
Anchor_RecNearPoll(i+1);
break;
@@ -1232,7 +1226,10 @@
// }
- break;
+ break;
+ default:
+
+ break;
}
}else{
#ifdef DEBUG_INF
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 af7252c..7346b8d 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"
@@ -27,7 +27,8 @@
#define HEX_OUTPUT
#define MAX_NEARBASE_NUM 12
-
+#define MAX_RFPOWER 60
+#define DEFAULT_RFPOWER 30
#define REPOET_ANC_NUM 1
#define REPOET_ANC_NUM_MIN 1
#define TAG_ID_START 0// 0x00980000
@@ -137,6 +138,6 @@
extern void TagDistClear(void);
void Dw1000_App_Init(void);
void TagListUpdate(void);
-void SyncPoll(u8 sync_seq,uint32_t sync_baseid);
+void SyncPoll(u8 sync_seq);
u8 GetRandomSlotPos(uint32_t emptyslot);
#endif
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 9b7797d..dd96812 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"
@@ -46,7 +46,9 @@
g_com_map[CNT_REBOOT]=0;
g_com_map[CNT_UPDATE]=0;
g_com_map[NEARBASE_NUM]=0;
- g_com_map[POWER]=67;
+ g_com_map[POWER]=DEFAULT_RFPOWER;
+ g_com_map[SYNCBASEID] = 0;
+ g_com_map[BASESYNCSEQ] = 0;
memcpy(&g_com_map[BOARD_TYPE],boardtype,4);
save_com_map_to_flash();
}
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 ad7dcc5..eb4f28f 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"
@@ -43,6 +43,8 @@
#define MOTOR_ENABLE 0x1E
#define IMU_ENABLE 0x1F
#define FILTER_COEFFICIENT 0x20
+#define SYNCBASEID 0x22
+#define BASESYNCSEQ 0x23
#define CNT_RESTART 0x30
#define CNT_REBOOT 0x31
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 f0d5def..a842d31 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"
@@ -58,8 +58,8 @@
{
g_com_map[COM_INTERVAL]=1000;
}
- if(module_power>67)
- {module_power=67;}
+ if(module_power>MAX_RFPOWER)
+ {module_power=MAX_RFPOWER;}
if(module_power<0)
{module_power=0;}
if(g_com_map[MAX_REPORT_ANC_NUM]>10)
@@ -86,12 +86,14 @@
// g_com_map[MAX_REPORT_ANC_NUM]=3;
// g_com_map[NEARBASE_NUM]=1;
// g_com_map[NEARBASE_ID1]=2;
- g_com_map[ANC_FLAG]=1;
- save_com_map_to_flash();
+// g_com_map[ANC_FLAG]=1;
+// save_com_map_to_flash();
+ g_com_map[BASESYNCSEQ]=0;
+ g_com_map[SYNCBASEID]=0x9751;
#endif
OUT485_ENABLE;
ComMapCheck();
- g_com_map[VERSION] = 0x0204;
+ g_com_map[VERSION] = 0x0207;
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;
@@ -99,7 +101,10 @@
module_power = g_com_map[POWER];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
anchor_type = dev_id%3;
-
+
+// g_com_map[BASESYNCSEQ]=0;
+// g_com_map[SYNCBASEID]=2;
+
if(g_com_map[DEV_ROLE])
{
printf("标签ID: %d .\r\n",dev_id);
@@ -131,8 +136,17 @@
*
* @return none
*/
+extern u16 synclost_count;
void HeatBeat(void)
-{
+{ u16 checksum;
+ if(synclost_count>5)
+ {
+ hbsend[6] = 0;
+ }else{
+ hbsend[6] = 1;
+ }
+checksum = Checksum_u16(&hbsend[2],12);
+memcpy(&hbsend[14],&checksum,2);
UART_PushFrame(hbsend,16);
}
extern u8 g_start_sync_flag,usart_send_flag,anc_report_num;
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 b0d8cd8..cdbe041 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"
@@ -32,8 +32,8 @@
/* Tick timer count. */
volatile uint32_t time32_incr;
uint8_t tt=0;
-uint8_t g_start_send_flag = 0,sync_seq=0,usart_send_flag;
-u16 usart_timer=0;
+uint8_t g_start_send_flag = 0,sync_seq=0,usart_send_flag,waitsync_flag=0;
+u16 usart_timer=0,synclost_count=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer,last_polltime;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
@@ -52,15 +52,23 @@
sync_timer++;
neartimout_timer++;
synclost_timer++;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+ GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_RESET);
if(sync_timer>=1000)
{
if(pwtag.remain_time>0)
{pwtag.remain_time--;}
flag_newsecond=1;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);
sync_timer=0;
+ synclost_count++;
TagListUpdate();
+ if(g_com_map[BASESYNCSEQ]==1) //本模块是同步基站
+ {
+ synclost_count = 0;
+ current_syncid = 1;
+ sync_seq=0;
+ SyncPoll(sync_seq);
+ }
}
if(g_Resttimer++>12000)
@@ -90,24 +98,6 @@
usart_send_flag=1;
}
#endif
- if(sync_timer>500&&dev_id!=0)
- {
- sync_seq=0xff;
- }
- if(synclost_timer>SYNCLOST_TIME)
- {
- flag_syncbase=1;
- }
-
- if(flag_syncbase) //本模块是同步基站
- {
- if(sync_timer==995)
- {
- current_syncid = g_com_map[DEV_ID];
- sync_seq=0;
- SyncPoll(sync_seq,current_syncid);
- }
- }
}else{ //标签同步处理
if(sync_timer==target_time)
{
--
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