From d3baabecd7591fe028b36f23d241191e1a05f986 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 04 六月 2021 11:35:46 +0800
Subject: [PATCH] V1.24 增加小组模式
---
Src/application/dw_app.c | 17 ++++++++++-------
1 files changed, 10 insertions(+), 7 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 373b8f1..fac1d3a 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -83,7 +83,7 @@
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
- 0, /* Use non-standard SFD (Boolean) */
+ 1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -315,8 +315,8 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
- motor_state=0;
-
+// motor_state=0;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -376,7 +376,7 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
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] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_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
@@ -429,7 +429,7 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
-
+ tx_near_msg[GROUP_ID_IDX] = group_id;
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
@@ -520,6 +520,8 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
+ {motor_state=0; }
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
nearbase_num=recbase_num;
j=0;
@@ -621,6 +623,7 @@
}
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[GROUP_ID_IDX] = group_id;
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
@@ -657,10 +660,10 @@
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
- u32 id;
+
//LED0_ON;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
--
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