From 003aff1766ffd3ccfe9df6096ef137340ebfeabf Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 18 十二月 2020 16:57:26 +0800
Subject: [PATCH] Merge branch '调试' into 定位-临近
---
Src/application/dw_app.c | 165 ++++++++++++++++++++++++++++---------------------------
1 files changed, 84 insertions(+), 81 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 22a43b4..8f1a2e0 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL
+#define STARTPOLL DISCPOLL
enum enumtagstate
{
REGPOLL,
@@ -552,7 +552,7 @@
{
memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
+ trygetnearmsg_times=10*tag_frequency;
mindist=temp_dist;
}
if(result==0)
@@ -576,7 +576,7 @@
}
if(getsync_flag==0)
{
- tagslotpos--;
+// tagslotpos--;
if(tagslotpos==0||tagslotpos>max_slotpos)
{
tagslotpos=max_slotpos;
@@ -584,7 +584,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
- //mainbase_id = 0x1;
+// mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -628,7 +628,7 @@
tag_state=NEARPOLL;
}
}else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
extern u8 userkey_state;
@@ -777,11 +777,11 @@
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
nearbase_distlist[rec_nearbasepos]=temp_dist;
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist!=0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- }
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// }
}
}
@@ -801,61 +801,61 @@
j=0;
if(exsistbase_list[0]==0)
{
-// SetNextPollTime(tagslotpos);
+ SetNextPollTime(tagslotpos);
}
// tyncpoll_time=0;
-// next_nearbase_num=0;
-// for(i=0;i<nearbase_num;i++)
-// {
-// if(exsistbase_list[i]>0)
-// {
-// next_nearbase_num++;
-// true_exsistbase_list[j]=exsistbase_list[i];
-// true_nearbase_idlist[j]=nearbaseid_list[i];
-// true_nearbase_distlist[j++]=nearbase_distlist[i];
-// exsistbase_list[i]--;
-// }
-// }
+ next_nearbase_num=0;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(exsistbase_list[i]>0)
+ {
+ next_nearbase_num++;
+ true_exsistbase_list[j]=exsistbase_list[i];
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+ exsistbase_list[i]--;
+ }
+ }
-// if(recbase_num<3)
-// {next_nearbase_num=next_nearbase_num;}
-// last_nearbase_num = next_nearbase_num;
-// for(i=0;i<last_nearbase_num-1;i++)
-// {
-// for(j=0;j<last_nearbase_num-1;j++)
-// {
-// if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
-// {
-// u32 temp_dist,temp_id,temp_exsis;
-// temp_dist=true_nearbase_distlist[j];
-// temp_id = true_nearbase_idlist[j];
-// temp_exsis=true_exsistbase_list[i];
-// true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
-// true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
-// true_exsistbase_list[j]=true_exsistbase_list[j+1];
-//
-// true_nearbase_distlist[j+1]=temp_dist;
-// true_nearbase_idlist[j+1]=temp_id;
-// true_exsistbase_list[j+1]=temp_exsis;
-// }
-// }
-// }
+ if(recbase_num<3)
+ {next_nearbase_num=next_nearbase_num;}
+ last_nearbase_num = next_nearbase_num;
+ for(i=0;i<last_nearbase_num-1;i++)
+ {
+ for(j=0;j<last_nearbase_num-1;j++)
+ {
+ if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ {
+ u32 temp_dist,temp_id,temp_exsis;
+ temp_dist=true_nearbase_distlist[j];
+ temp_id = true_nearbase_idlist[j];
+ temp_exsis=true_exsistbase_list[i];
+ true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+ true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_exsistbase_list[j]=true_exsistbase_list[j+1];
+
+ true_nearbase_distlist[j+1]=temp_dist;
+ true_nearbase_idlist[j+1]=temp_id;
+ true_exsistbase_list[j+1]=temp_exsis;
+ }
+ }
+ }
-// if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
-// {
-// changemainbase_count++;
-// }else{
-// changemainbase_count = 0;
-// }
-// if(changemainbase_count>3)
-// {
-// mainbase_id = true_nearbase_idlist[0];
-// tag_state = GETNEARMSG;
-// }
-// if(mainbase_lost_count>3)
-// {
-// tag_state = DISCPOLL;
-// }
+ if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
+ {
+ changemainbase_count++;
+ }else{
+ changemainbase_count = 0;
+ }
+ if(changemainbase_count>2*tag_frequency)
+ {
+ mainbase_id = true_nearbase_idlist[0];
+ tag_state = GETNEARMSG;
+ }
+ if(mainbase_lost_count>10*tag_frequency)
+ {
+ tag_state = STARTPOLL;
+ }
// for (i=0;i<nearbase_num;i++)
// {
// if(nearbaseid_list[i]==0)
@@ -881,22 +881,22 @@
// {
// nearbase_distlist[i]=0x1ffff;
// }
-// if(para_update)
-// {
-// uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
-// pack_msgtype = rec_remotepara[0];
-// pack_index = rec_remotepara[1];
-// pack_length = rec_remotepara[2];
-// if(pack_msgtype==2)
-// {
-// memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
-// //返回一个error状态
-// //SendComMap(pack_datalen,pack_index);
-// save_com_map_to_flash();
-// delay_ms(100);
-// NVIC_SystemReset();
-// }
-// }
+ if(para_update)
+ {
+ uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
+ }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
@@ -976,6 +976,7 @@
mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ if(tagslotpos!=255)
tag_state = NEARPOLL;
}
}
@@ -985,9 +986,13 @@
{
//LED0_ON;
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ delay_us(700);
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
+ // Dw1000_Init();
id = dwt_readdevid() ;
}
switch(tag_state)
@@ -1009,13 +1014,11 @@
LED_LG_OFF;
if(trygetnearmsg_times==0)
{
- tag_state = DISCPOLL;
+ tag_state = STARTPOLL;
}
break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
+ case NEARPOLL:
NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
}
dwt_entersleep();
--
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