From f223f306a6810aa2c2c6181176ea54ed26256273 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 22 十二月 2022 17:43:45 +0800
Subject: [PATCH] 2.61 增加时间片异常处理逻辑
---
Src/application/dw_app.c | 37 ++++++++++++++++++++++++-------------
1 files changed, 24 insertions(+), 13 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index edf3fe6..92e8358 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -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];
+
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;
@@ -979,9 +985,7 @@
outrange_times = 0;
}
}
-
-
-
+
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -989,7 +993,7 @@
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 +1040,7 @@
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
trygetnearmsg_times = 0;
+ GetNearMsg();
}
#endif
@@ -1066,9 +1071,10 @@
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;
@@ -1116,13 +1122,17 @@
}
}
}
- 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 +1141,9 @@
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)
--
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