From 6f05c0c8a8e5b4ccabc20cb75b57bd59ef145bcc Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 17 三月 2023 18:32:38 +0800
Subject: [PATCH] 解决uwb测距 3个以上标签出错的bug。
---
Src/application/dw_app.c | 37 +++++++++++++++++++------------------
1 files changed, 19 insertions(+), 18 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index cbc0205..26abfec 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -304,7 +304,7 @@
freqlost_count = 0;
}
}
-
+u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
@@ -340,6 +340,7 @@
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
para_update = 0;
+ get_newbase = 0;
flag_finalsend=0;
flag_rxon=1;
flag_getresponse=0;
@@ -397,7 +398,7 @@
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
- { u16 rec_nearbaseid,rec_nearbasepos;
+ {
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
@@ -548,6 +549,8 @@
{
last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
}
+ if(nearbase_num==4)
+ {nearbase_num=4;}
last_nearbase_num = next_nearbase_num;
for(i=0;i<last_nearbase_num-1;i++)
{
@@ -571,26 +574,24 @@
}
report_num=0;
+ if(last_nearbase_num>4)
+ {
+ last_nearbase_num = 5;
+ }
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]==KEEP_TIMES)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
}
- #ifdef USART_INTEGRATE_OUTPUT
- usart_send[0] = 0x55;
- usart_send[1] = 0xAA;
- usart_send[2] = 4;//正常模式
- usart_send[3] = report_num*6+2;//正常模式
- checksum = Checksum_u16(&usart_send[2],report_num*6+2);
- memcpy(&usart_send[4+report_num*6],&checksum,2);
- USART_puts(usart_send,6+report_num*6);
- #endif
+// #ifdef USART_INTEGRATE_OUTPUT
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xAA;
+// usart_send[2] = 4;//正常模式
+// usart_send[3] = report_num*6+2;//正常模式
+// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+// memcpy(&usart_send[4+report_num*6],&checksum,2);
+// USART_puts(usart_send,6+report_num*6);
+// #endif
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
@@ -605,7 +606,7 @@
if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
{ uint8_t pack_msgtype,pack_index,pack_length;
pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1]*2;
+ pack_index = rec_remotepara[1];
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
--
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