From 101cfeb2638fe4539b3e0040a99cc045e7d2f651 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 15 十月 2021 10:01:52 +0800
Subject: [PATCH] V2.37 有bug 工作一段时间不上传数据
---
Src/application/dw_app.c | 72 +++++++++++++++++++++++++----------
1 files changed, 51 insertions(+), 21 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3742b7d..34d1159 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -71,6 +71,7 @@
#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_DIST
enum enumtagstate
{
REGPOLL,
@@ -78,7 +79,7 @@
GETNEARMSG,
NEARPOLL,
SINGLEPOLL,
-}tag_state=SINGLEPOLL;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -246,7 +247,7 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
-int32_t mainbase_dist;
+int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
@@ -493,6 +494,7 @@
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
frame_seq_nb++;
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -505,7 +507,7 @@
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
@@ -626,12 +628,17 @@
void GetNearMsg(void)
{
u32 start_poll,frame_len;
-
-mainbase_id = 0x9724;
+ u8 nearmsg_i=0;
+ for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
+ {
+ nearbase_distlist[nearmsg_i] = 0x1ffff;
+ }
+//mainbase_id = 0x9724;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+
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);
dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -668,7 +675,9 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+#define MAX_NEARBASE_ANCNUM 11
+u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+u8 outrange_times;
void NearPoll(void)
{
@@ -698,19 +707,21 @@
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(28+6*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
// for(i=0;i<nearbase_num+1;i++)
@@ -789,8 +800,24 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
+ base_mindist = temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ if(frame_len==28)
+ {
+ memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
+ memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
+ if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
+ {
+ if(outrange_times++>OUTRANGE_RESTARTTIMES)
+ {
+ // tag_state = STARTPOLL;
+ }
+ }else{
+ outrange_times = 0;
+ }
+ }
+
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
mainbase_lost_count=0;
@@ -825,21 +852,24 @@
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ if(frame_len==28)
+ memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
{
salvebase_mindist = temp_dist;
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- }
- #endif
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+ {
+ mainbase_id = rec_nearbaseid;
+ tag_state = GETNEARMSG;
+ }
+ #endif
+
}
}
}else{
@@ -873,7 +903,7 @@
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>10*tag_frequency)
+ }else if(mainbase_lost_count>5*tag_frequency)
{
tag_state = STARTPOLL;
}
@@ -905,10 +935,10 @@
}
for(i=0;i<nearbase_num;i++)
{
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- }
+ 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);
--
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