From 3c8c53f51592e0e3723083288bf80e4705973e74 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 30 十月 2023 11:29:58 +0800
Subject: [PATCH] 版本v2.5，把防撞基站测距出来的距离，加到定位的报文里发到定位基站上传服务器。
---
Src/application/dw_app.c | 21 +++++++++++++++------
1 files changed, 15 insertions(+), 6 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 226c813..812ee3f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -847,6 +847,10 @@
}
}
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+uint16_t nearbase_taglist_num;
void NearPoll(void)
{
@@ -882,24 +886,29 @@
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
+ nearbase_taglist_num=nearbase_num+taglist_num;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_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);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&tagid_list,taglist_num*2);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = POS_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(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_writetxdata(29+8*nearbase_taglist_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_taglist_num, 0);//设置超宽带发送数据长度
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<poll_startcount||current_count>poll_startcount+16384)
--
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