From 8fba17d0f4bd55471333a5d95d394efb118ede35 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 07 十一月 2023 16:07:43 +0800
Subject: [PATCH] v2.61，修改测距后防撞标签之前的delay时间
---
Src/application/dw_app.c | 53 ++++++++++++++++++++++++++++++++++-------------------
1 files changed, 34 insertions(+), 19 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 1db496f..1ad9b1c 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -78,7 +78,7 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
- SINGLEPOLL,
+ SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
@@ -89,7 +89,7 @@
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
+ DWT_PHRMODE_EXT, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -610,8 +610,9 @@
if(minddist!=0x1ffff&&minddist!=0)
{
trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
+ tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -846,6 +847,7 @@
}
}
+u32 last_mindist_slavebaseid;
void NearPoll(void)
{
@@ -946,7 +948,7 @@
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
test2 = dwt_readcarrierintegrator();
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -997,8 +999,8 @@
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((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
if(frame_len==38)
{
memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -1055,18 +1057,18 @@
}
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&&nearbase_switchdistlist[rec_nearbasepos]==1)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
{
salvebase_mindist = temp_dist;
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- }
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// }
#endif
}
@@ -1093,12 +1095,20 @@
#ifdef SWITCHBASE_DIST
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
- changemainbase_count++;
- if(changemainbase_count>5)
+ if(mindist_slavebaseid==last_mindist_slavebaseid)
{
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ changemainbase_count++;
+ if(changemainbase_count>2)
+ {
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
+ }}
+ else{
+ changemainbase_count = 1;
+ last_mindist_slavebaseid = mindist_slavebaseid;
}
}else{
changemainbase_count = 0;
@@ -1106,7 +1116,9 @@
#endif
}else if(mainbase_lost_count>10)
{
+ mainbase_lost_count = 0;
tag_state = DISCPOLL;
+ DiscPoll();
}
if(mainbase_lost_count!=0)
{
@@ -1167,6 +1179,7 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ GetNearMsg();
trygetnearmsg_times = 0;
nearbaseid_list0[i]=1;
}
@@ -1316,6 +1329,8 @@
// Poll();
break;
}
+ delay_ms(100);
+// dwt_forcetrxoff();
FZNearPoll();
dwt_forcetrxoff();
userkey_state = !GET_USERKEY;
--
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