From fed6a447e90051027925217fae8c6a5d57054989 Mon Sep 17 00:00:00 2001 From: zhyinch <zhyinch@gmail.com> Date: 星期一, 08 八月 2022 09:32:35 +0800 Subject: [PATCH] 1.66 --- 源码/核心板/Src/application/dw_app.c | 86 ++++++++++++++++++++---------------------- 1 files changed, 41 insertions(+), 45 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 b1da7db..3b22bba 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" @@ -313,7 +313,7 @@ } return max_slotpos-1; } -u8 test=0; +u8 test=0,dissucc_flag1,dissucc_flag2,lastdist1,lastdist2; u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0; u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary; u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id; @@ -422,23 +422,23 @@ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2); - if(g_com_map[DEV_ROLE]!=0) - { - sync_timer=temp_sync_timer1; -//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2); +// if(g_com_map[DEV_ROLE]!=0) +// { +// sync_timer=temp_sync_timer1; +////// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2); +//// // - - tmp_time=tmp_time+650; - if(tmp_time>999) - { - tmp_time-=999; - sync_timer++; - if(sync_timer>=1000) - {sync_timer=0;} - } - TIM3->CNT=tmp_time; - } - current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL]; +// tmp_time=tmp_time+650; +// if(tmp_time>999) +// { +// tmp_time-=999; +// sync_timer++; +// if(sync_timer>=1000) +// {sync_timer=0;} +// } +// 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; @@ -471,22 +471,19 @@ dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000 dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度 memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); - if(temp_dist!=0x1ffff) - { + if(temp_dist!=0x1ffff&&lastdist1!=temp_dist&&!dissucc_flag1)//没有成功测距,且距离和上一次不相等 + { + dissucc_flag1 = 1; + lastdist1 = temp_dist; + g_Resttimer=0; IWDG_Feed(); #ifdef USART_SINGLE_OUTPUT usart_send[2] = 1;//正常模式 usart_send[3] = 17;//数据段长度 usart_send[4] = frame_seq_nb;//数据段长度 - if(g_com_map[DEV_ROLE]) - { memcpy(&usart_send[5],&dev_id,2); - memcpy(&usart_send[7],&rec_nearbaseid,2); - }else{ - memcpy(&usart_send[5],&rec_nearbaseid,2); - memcpy(&usart_send[7],&dev_id,2); - } + memcpy(&usart_send[7],&rec_nearbaseid,2); memcpy(&usart_send[9],&temp_dist,4); usart_send[13] = rx_buffer[DIST_IDX+3]; usart_send[14] = button; @@ -495,21 +492,15 @@ UART_PushFrame(usart_send,21); usartoutput_count++; #endif - } + if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid) { #ifdef USART_SINGLE_OUTPUT usart_send[2] = 1;//正常模式 usart_send[3] = 17;//数据段长度 usart_send[4] = frame_seq_nb;//数据段长度 - if(g_com_map[DEV_ROLE]) - { memcpy(&usart_send[5],&rec_extratag_id,2); - memcpy(&usart_send[7],&rec_nearbaseid,2); - }else{ - memcpy(&usart_send[5],&rec_nearbaseid,2); - memcpy(&usart_send[7],&rec_extratag_id,2); - } + memcpy(&usart_send[7],&rec_nearbaseid,2); memcpy(&usart_send[9],&rec_extratag_dist,4); usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3]; usart_send[14] = button; @@ -518,7 +509,7 @@ UART_PushFrame(usart_send,21); #endif } - + } }else{ rec_nearbasepos=FindNearBasePos(rec_nearbaseid); @@ -545,8 +536,11 @@ LED0_BLINK; // memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4); // tagslotpos=GetRandomSlotPos(rec_tagpos_binary); - if(temp_dist!=0x1ffff) - { + if(temp_dist!=0x1ffff&&lastdist2!=temp_dist&&!dissucc_flag2)//没有成功测距,且距离和上一次不相等 + { + dissucc_flag2 = 1; + lastdist2 = temp_dist; + #ifdef USART_SINGLE_OUTPUT usart_send[2] = 1;//正常模式 usart_send[3] = 17;//数据段长度 @@ -571,7 +565,7 @@ //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5 // result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送 //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000 - } + if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid) { #ifdef USART_SINGLE_OUTPUT @@ -594,6 +588,7 @@ UART_PushFrame(usart_send,21); #endif } + } } } }else{ @@ -706,7 +701,8 @@ { usartoutput_notenough = 0; }else{ - if(usartoutput_notenough++>10) + sync_timer += time32_incr%5; + if(usartoutput_notenough++>50) { SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader } @@ -791,7 +787,7 @@ break; } - SetNextPollTime(tyncpoll_time); +// SetNextPollTime(tyncpoll_time); g_start_send_flag = 0; GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET); } @@ -956,10 +952,10 @@ }else{ motorstate =0; } - if(frame_seq_nb2!=tagseq_list[taglist_pos]+1) - { - tagdist_list[taglist_pos]=0x1ffff; - } +// if(frame_seq_nb2!=tagseq_list[taglist_pos]+1) +// { +// tagdist_list[taglist_pos]=0x1ffff; +// } if(new_tagid) { tagdist_list[taglist_pos]=0x1ffff; @@ -1017,7 +1013,7 @@ uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32; double Ra, Rb, Da, Db; int64_t tof_dtu; - u8 si; + u8 si; 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 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 -- Gitblit v1.9.3