From baf8b42fca25208021259fde69eabdd2fc31cefa Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期六, 25 三月 2023 18:38:23 +0800
Subject: [PATCH] 阶段性调试1
---
Src/application/dw_app.c | 120 ++++++++++++++++++++++++++++++++++++------------------------
1 files changed, 72 insertions(+), 48 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ef662aa..aa689a3 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+#include "CRC.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -120,7 +120,7 @@
uint16_t current_slotpos = 0;
uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -615,6 +615,7 @@
trygetnearmsg_times = 0;
tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -703,7 +704,8 @@
last_lpcount = lpcount;
}
uint16_t rec_tagperiod;
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;
+int8_t notenoughdist_count=0;
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -714,6 +716,7 @@
nearbase_distlist[nearmsg_i] = 0x1ffff;
}
//mainbase_id = 0x9818;
+ notenoughdist_count = -2;
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] = POS_MSG;
@@ -795,11 +798,14 @@
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
uint16_t rec_ancpos;
+uint8_t dist_noutenough_count;
+uint8_t ancdist_hist[11];
+uint16_t calCRC;
void NearPoll(void)
{
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
- static u8 notenoughdist_count=0;
+
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
@@ -819,12 +825,7 @@
recbase_num=0;
// motor_state=0;
- if(motor_state!=0&&motor_state!=3)
- {
- motor_flag = 1;
- }else{
- motor_flag = 0;
- }
+
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
@@ -962,8 +963,7 @@
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);
@@ -979,9 +979,7 @@
outrange_times = 0;
}
}
-
-
-
+
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -989,7 +987,7 @@
flag_getresponse=1;
//时间同步
- tmp_time=tmp_time+450;
+ tmp_time=tmp_time+450;
if(tmp_time>999)
{
tmp_time-=999;
@@ -1036,6 +1034,7 @@
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
trygetnearmsg_times = 0;
+ GetNearMsg();
}
#endif
@@ -1066,9 +1065,10 @@
changemainbase_count++;
if(changemainbase_count>tag_frequency*2)
{
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
}
}else{
changemainbase_count = 0;
@@ -1092,37 +1092,45 @@
}
if(para_update)
- {
-
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- if( pack_index == MOTOR_ONTIME_INDEX)
- {
- // if(motor_keeptime==0)
- motor_keeptime = rec_remotepara[3];
- }else{
- if(pack_index<200)
+ {
+
+ calCRC = CRC_Compute(rec_remotepara,5);
+ if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+ {
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == MOTOR_ONTIME_INDEX)
{
- 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();
+ // if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
+ }else{
+ if(pack_index<200)
+ {
+ 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();
+ }
}
- }
- }
+ }
+ }
}
- if(get_newdist>2)
+ if(get_newdist>=2)
{
notenoughdist_count = 0;
}else{
if(notenoughdist_count++>3)
{
notenoughdist_count = 0;
+ current_slotpos = start_count%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
// tag_state = DISCPOLL;
}
}
@@ -1131,8 +1139,9 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- nearbaseid_list0[i]=1;
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
+ GetNearMsg();
}
}
if(pos_nochange)
@@ -1144,6 +1153,7 @@
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
+
extern uint8_t module_power,imu_enable,motor_enable;
void Registor_Poll(void)
{
@@ -1217,17 +1227,17 @@
}
}
}
+extern void FZNearPoll(void);
u32 id,error_times=0;
-
+u8 ttt = 1;
extern float Height;
-void Tag_App(void)//发送模式(TAG标签)
+void UWBWkWp(void)
{
- static uint8_t diccount = 0;
- //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();
@@ -1240,6 +1250,16 @@
}
}
error_times = 0;
+}
+void Tag_App(void)//发送模式(TAG标签)
+{
+ static uint8_t diccount = 0,diccount2;
+ //LED0_ON;
+ UWBWkWp();
+ if(0)
+ {
+ FZNearPoll();
+ }else{
switch(tag_state)
{
case REGPOLL:
@@ -1283,7 +1303,11 @@
case SINGLEPOLL:
// Poll();
break;
- }
+ }}
+
+ FZNearPoll();
+
+ dwt_forcetrxoff();
userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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