From dca85b651a942c826f1b29ac08d7e65d33cebb93 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 22 十月 2020 12:02:16 +0800
Subject: [PATCH] 可以读取气压温度
---
Src/application/dw_app.c | 107 ++++++++++++++++++++++-------------------------------
1 files changed, 44 insertions(+), 63 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 2fe757e..3aca82a 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -448,6 +448,7 @@
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+uint8_t changemainbase_count=0;
void NearPoll(void)
{
@@ -465,8 +466,7 @@
next_nearbase_num = MAX_NEARBASE_NUM-1;
}
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
- last_nearbase_num=next_nearbase_num;
- nearbase_num=next_nearbase_num;
+
recbase_num=0;
motor_state=0;
@@ -535,14 +535,7 @@
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(last_nearbase_num==0)
- {
- get_newbase=1;
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- if(rec_nearbaseid==nearbaseid_list[0])
+ if(rec_nearbaseid==mainbase_id)
{
//////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
@@ -562,10 +555,9 @@
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
- rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
+ mainbase_dist=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -606,35 +598,9 @@
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
SetNextPollTime(tyncpoll_time);
-
- // count_offset=sync_count-current_count-143;
- // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
- // nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
-// if(abs(ancsync_time-910000)<1000)
-// {
-// nextpoll_delaytime+=10000;
-// }
-// if(nextpoll_delaytime<2000)
-// {
-// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
-// }
-// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
-// if(lastpoll_count>LPTIMER_1S_COUNT)
-// lastpoll_count-=LPTIMER_1S_COUNT;
-// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
- /////////////////////////////////////////
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
-
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
- {
- get_newbase=1;
- nearbase_num++;
- nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
+
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
@@ -651,15 +617,10 @@
para_len = frame_len-22;
memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
}
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
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
-
-
- //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- // result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
- }
+ }
}
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
@@ -670,7 +631,7 @@
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
+
j=0;
if(exsistbase_list[0]==0)
{
@@ -687,7 +648,7 @@
}
// tyncpoll_time=0;
next_nearbase_num=0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
+ for(i=0;i<nearbase_num;i++)
{
if(exsistbase_list[i]>0)
{
@@ -722,19 +683,34 @@
}
}
}
-
- report_num=0;
- for (i=0;i<last_nearbase_num;i++)
+ if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
{
- nearbaseid_list[i]=true_nearbase_idlist[i];
- nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
+ changemainbase_count++;
+ }else{
+ changemainbase_count = 0;
}
+ if(changemainbase_count>3)
+ {
+ mainbase_id = true_nearbase_idlist[0];
+ tag_state = GETNEARMSG;
+ }
+ if(mainbase_lost_count>3)
+ {
+ tag_state = DISCPOLL;
+ }
+//串口输出距离
+// report_num=0;
+// 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]==0xa)
+// {
+// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
+// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
+// report_num++;
+// }
+// }
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
@@ -778,9 +754,14 @@
Poll();
break;
case GETNEARMSG:
-
- GetNearMsg();
-
+ trygetnearmsg_times--;
+ LED_LG_ON;
+ GetNearMsg();
+ LED_LG_OFF;
+ if(trygetnearmsg_times==0)
+ {
+ tag_state = DISCPOLL;
+ }
break;
case NEARPOLL:
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
--
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