From 0533236e453d9368d6f66341cafa2a8f2fe81dc3 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 14 三月 2021 13:18:19 +0800
Subject: [PATCH] V2.23 尝试修复红灯常亮BUG
---
Src/application/dw_app.c | 72 ++++++++++++++++++++++++------------
1 files changed, 48 insertions(+), 24 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 8698bf8..abca4ba 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,9 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL
-#define SWITCHBASE_DIST
-//#define SWITCHBASE_ZHUANDIAN
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
REGPOLL,
@@ -248,7 +247,7 @@
u16 mainbase_id;
int32_t mainbase_dist;
uint8_t trygetnearmsg_times;
-u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
u8 i;
@@ -624,6 +623,7 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
//slottime=ceil((nearbase_num+2)*0.3)+1;
//tyncpoll_time=tagslotpos*slottime;
//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
@@ -637,18 +637,20 @@
extern float motor_keeptime;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
+int32_t salvebase_mindist;
void NearPoll(void)
{
- uint32_t temp1,temp2,dw_systime,salvebase_mindist=999999,mindist_slavebaseid;
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
+ USART_putc(current_slotnum);
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
-
+ salvebase_mindist=999999;
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -727,6 +729,14 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+
+ if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
+ {
+ para_update = 1;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
+ para_len = frame_len-22;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ }
dwt_writetxdata(28+nearbase_num*4, tx_near_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
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -742,14 +752,8 @@
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
-
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
- }
+
+
flag_getresponse=1;
//时间同步
tmp_time=tmp_time+450;
@@ -762,7 +766,7 @@
}
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
+ current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
@@ -805,6 +809,8 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(flag_finalsend!=1)
+ {flag_finalsend = 2;}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
@@ -836,18 +842,29 @@
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
- if( pack_index == 0x10)
+ if( pack_index == MOTOR_ONTIME_INDEX)
{
- motor_keeptime = rec_remotepara[3];
+ if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
}else{
- 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(pack_index<200)
+ {
+ 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();
+ }
}
}
+ }
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ }
}
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);
@@ -928,12 +945,13 @@
mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
if(tagslotpos!=255)
tag_state = NEARPOLL;
}
}
}
-u32 id;
+u32 id,error_times=0;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -946,7 +964,13 @@
{
// Dw1000_Init();
id = dwt_readdevid() ;
+ IdleTask();
+ if(error_times++>20)
+ {
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
}
+ error_times = 0;
switch(tag_state)
{
case REGPOLL:
--
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