From cdcf6a128503b3a4fc0dcc4f86ec63a3ab8a59b5 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 09 十二月 2020 21:42:40 +0800
Subject: [PATCH] V2.13 修改丢包重连机制
---
Src/application/dw_app.c | 59 ++++++++++++++++++++++++++++++-----------------------------
1 files changed, 30 insertions(+), 29 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 22a43b4..6d6e1a9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -552,7 +552,7 @@
{
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)
@@ -576,7 +576,7 @@
}
if(getsync_flag==0)
{
- tagslotpos--;
+// tagslotpos--;
if(tagslotpos==0||tagslotpos>max_slotpos)
{
tagslotpos=max_slotpos;
@@ -584,7 +584,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
- //mainbase_id = 0x1;
+// mainbase_id = 0x9804;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -628,7 +628,7 @@
tag_state=NEARPOLL;
}
}else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
extern u8 userkey_state;
@@ -777,7 +777,7 @@
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<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
{
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
@@ -799,10 +799,10 @@
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
j=0;
- if(exsistbase_list[0]==0)
- {
+// if(exsistbase_list[0]==0)
+// {
// SetNextPollTime(tagslotpos);
- }
+// }
// tyncpoll_time=0;
// next_nearbase_num=0;
// for(i=0;i<nearbase_num;i++)
@@ -852,10 +852,10 @@
// mainbase_id = true_nearbase_idlist[0];
// tag_state = GETNEARMSG;
// }
-// if(mainbase_lost_count>3)
-// {
-// tag_state = DISCPOLL;
-// }
+ if(mainbase_lost_count>10*tag_frequency)
+ {
+ tag_state = STARTPOLL;
+ }
// for (i=0;i<nearbase_num;i++)
// {
// if(nearbaseid_list[i]==0)
@@ -881,22 +881,22 @@
// {
// nearbase_distlist[i]=0x1ffff;
// }
-// if(para_update)
-// {
-// uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
-// pack_msgtype = rec_remotepara[0];
-// pack_index = rec_remotepara[1];
-// pack_length = rec_remotepara[2];
-// if(pack_msgtype==2)
-// {
-// 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(para_update)
+ {
+ uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ 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();
+ }
+ }
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);
@@ -988,6 +988,7 @@
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
+ // Dw1000_Init();
id = dwt_readdevid() ;
}
switch(tag_state)
@@ -1009,7 +1010,7 @@
LED_LG_OFF;
if(trygetnearmsg_times==0)
{
- tag_state = DISCPOLL;
+ tag_state = STARTPOLL;
}
break;
case NEARPOLL:
--
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