From 1b83e716601b4c7ba981a00be6ecf24a9d549d52 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 20 一月 2021 10:18:56 +0800
Subject: [PATCH] V2.20 1.增加静止时间判定参数，测距有BUG抖动较大
---
Src/application/dw_app.c | 173 +++++++++++++++++++++++----------------------------------
1 files changed, 69 insertions(+), 104 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 459877e..0725258 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL DISCPOLL
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
REGPOLL,
@@ -246,7 +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;
@@ -552,7 +553,7 @@
{
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)
@@ -584,7 +585,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
-// mainbase_id = 0x9804;
+// mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -622,6 +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;
@@ -632,12 +634,14 @@
}
}
extern u8 userkey_state;
+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;
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
uint32_t final_tx_time;
u32 start_poll;
@@ -645,12 +649,12 @@
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;
}
- HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
recbase_num=0;
// motor_state=0;
@@ -724,6 +728,14 @@
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
@@ -739,14 +751,8 @@
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;
@@ -777,12 +783,18 @@
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)
+ if(temp_dist<salvebase_mindist)
+ {
+ 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
}
}
}else{
@@ -798,89 +810,27 @@
}
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- j=0;
-// if(exsistbase_list[0]==0)
-// {
-// 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]--;
-// }
-// }
-// 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>10)
+ if(mainbase_lost_count==0)
{
- tag_state = DISCPOLL;
- }
-// for (i=0;i<nearbase_num;i++)
-// {
-// if(nearbaseid_list[i]==0)
-// {
-// tag_state = GETNEARMSG;
-// }
-//
-// }
-//串口输出距离
-// report_num=0;
-// for (i=0;i<last_nearbase_num;i++)
-// {
-// nearbaseid_list[i]=true_nearbase_idlist[i];
-// nearbase_distlist[i]=true_nearbase_distlist[i];
-// if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
-// {
-// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
-// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
-// report_num++;
-// }
-// }
-// for(i=0;i<MAX_NEARBASE_NUM;i++)
-// {
-// nearbase_distlist[i]=0x1ffff;
-// }
+ #ifdef SWITCHBASE_DIST
+ if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
+ {
+ changemainbase_count++;
+ if(changemainbase_count>tag_frequency*2)
+ {
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ }
+ }else{
+ changemainbase_count = 0;
+ }
+ #endif
+ }else if(mainbase_lost_count>10*tag_frequency)
+ {
+ tag_state = STARTPOLL;
+ }
+
if(para_update)
{
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
@@ -889,16 +839,28 @@
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
+ if( pack_index == MOTOR_ONTIME_INDEX&&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();
+ }
}
}
+ 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);
+//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
extern uint8_t module_power,imu_enable,motor_enable;
@@ -976,6 +938,8 @@
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;
}
}
@@ -985,10 +949,13 @@
{
//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();
+ // Dw1000_Init();
id = dwt_readdevid() ;
}
switch(tag_state)
@@ -1010,13 +977,11 @@
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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