From f08d7f7203a757602e720126d2fc0d90560bc434 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 二月 2025 10:20:25 +0800
Subject: [PATCH] V2.34
---
Src/application/dw_mbx_tag.c | 70 ++++++++++++++++++++--------------
1 files changed, 41 insertions(+), 29 deletions(-)
diff --git a/Src/application/dw_mbx_tag.c b/Src/application/dw_mbx_tag.c
index ec0d13f..187dfa5 100644
--- a/Src/application/dw_mbx_tag.c
+++ b/Src/application/dw_mbx_tag.c
@@ -37,11 +37,11 @@
#define FZ_NEARBASEID_INDEX 11
#define TAG_NUM_IN_SYS 25
-#define TAG_KEEPTIMES 30
+#define TAG_KEEPTIMES 15
#define REPORT_TAG_KEEPTIMES 1
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
static u8 frame_seq_nb2,battary,button,uwb_losttimer,taglist_pos;
-
+uint16_t recnum[5];
static u8 tagofflinetime[ANC_MAX_NUM];
u8 taglist_num;
uint16_t tagid_list[ANC_MAX_NUM],tagdist_list[ANC_MAX_NUM];
@@ -67,7 +67,7 @@
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
- send_buffer[GROUP_ID_IDX] = group_id;
+ send_buffer[GROUP_ID_IDX] = rx_buffer[GROUP_ID_IDX];
// send_buffer[MAINBASE_INDEX]=flag_syncbase;
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
@@ -93,6 +93,7 @@
if(current_time>=end_time&¤t_time<end_time+15000)
break;
};
+ recnum[3]++;
tagofflinetime[taglist_pos] = 0;
// printf("测距成功，序号%d，距离%d\r\n",frame_seq_nb2,tagdist_list[taglist_pos]);
// delay_ms(10);
@@ -131,7 +132,9 @@
#define GROUP_NUM 3
uint16_t group_min_dist[GROUP_NUM+1];
uint32_t temp231;
-uint16_t recnum[3];
+
+
+extern int8_t RssiValue;
void MbxTagUwbRec(void)
{
@@ -174,13 +177,13 @@
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- recnum[1]++;
+
switch(rx_buffer[MESSAGE_TYPE_IDX])
{ uint8_t target_tagi;
case MBX_REG:
break;
case MBX_POLL:
- if(group_id==rx_buffer[GROUP_ID_IDX])
+ // if(group_id==rx_buffer[GROUP_ID_IDX])
{
// dwt_readdiagnostics(&d1);
// LOS(&d1);
@@ -188,7 +191,7 @@
// {
// break;
// }
- recnum[2]++;
+ recnum[1]++;
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
@@ -200,20 +203,18 @@
uwb_losttimer = 0;
taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_num>=ANC_MAX_NUM)
+ if(taglist_pos>=ANC_MAX_NUM)
break;
-
+ recnum[2]++;
+
for(i=0; i<rec_nearbase_num; i++)
{
memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+ // recnum[2]++;
Anchor_RecNearPoll(i);
tagdist_list[taglist_pos]=rec_ancdistlist[i];
- if(group_min_dist[group_id]>rec_ancdistlist[i])
- {
- group_min_dist[group_id] = rec_ancdistlist[i];
- }
if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
@@ -329,6 +330,7 @@
u8 bat;
id = report_ancid[j];
dist = report_ancdist[j];
+
report_ancid[j] = report_ancid[j+1];
report_ancdist[j] = report_ancdist[j+1];
report_ancid[j+1] = id;
@@ -350,6 +352,8 @@
memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
lora_sendbuffer[SEQNUM_IDX] = seq_num++;
lora_sendbuffer[BAT_IDX] = bat_percent;
+ lora_sendbuffer[BAT_IDX] = recnum[0];
+ // lora_sendbuffer[SEQNUM_IDX] = recnum[1];
lora_sendbuffer[STATE_IDX] = !GET_USERKEY|stationary_flag<<1;
#ifdef USE_GPS
memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
@@ -361,7 +365,15 @@
lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
#endif
// memcpy(&lora_sendbuffer[BAR_HEIGHT_IDX],&bar_height,2);
+// report_ancdist[4] = report_ancnum;
+// report_ancnum = 6;
+// report_ancdist[0] = recnum[0];
+// report_ancdist[1] = recnum[1];
+// report_ancdist[2] = recnum[2];
+// report_ancdist[3] = recnum[3];
+// report_ancdist[5] = taglist_num;
lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
+
memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
checksum = Checksum_u16(lora_sendbuffer,4*report_ancnum+ANCID_IDX);
@@ -370,7 +382,7 @@
LED_TB_ON;
bat_percent=Get_Battary();
- for(uint8_t i=0;i<3;i++)
+ for(uint8_t i=0;i<5;i++)
recnum[i] = 0;
}
@@ -426,20 +438,20 @@
if(rec_secdelay>0)
{
rec_secdelay--;
-// if(lora_jianting_flag)
-// {
-// if(++group_id>GROUP_NUM)
-// {
-// group_id = 1;
-// }
-// t22[ti++] = group_id;
-// if(ti>=20)
-// ti=0;
-// group_min_dist[group_id] = 0xffff;
-// Radio.Standby();
-// SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
-// Radio.Rx(0);
-// }
+ if(lora_jianting_flag)
+ {
+ if(++group_id>GROUP_NUM)
+ {
+ group_id = 1;
+ }
+ t22[ti++] = group_id;
+ if(ti>=20)
+ ti=0;
+ group_min_dist[group_id] = 0xffff;
+ Radio.Standby();
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+group_id,UWB_CHANNEL_SF,0);
+ Radio.Rx(0);
+ }
return;
}
// //找3个小组中最近距离最大的小组，上传报文后切换到这个小组，因为上传报文会时间占用。
@@ -452,7 +464,7 @@
// group_maxdist_index = group_min_dist[2]>group_min_dist[3]?2:3; //取 2和3 最大值
// group_mindist_index = group_min_dist[1]<group_min_dist[3]?1:3;//取 1和3 最小值
// }
-//// group_id = 1;
+ group_id = 1;
// group_id = group_maxdist_index;
#endif
t22[ti++] = group_id;
--
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