From f91c026378ada7cf97de4cc28c4e3bea38fee9b2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 10 八月 2023 11:27:18 +0800
Subject: [PATCH] 版本2.70，加入防撞标签代码。
---
Src/application/dw_app.c | 44 ++++++++++++++++++++++++++++----------------
1 files changed, 28 insertions(+), 16 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 0eb9c2a..3da4694 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -81,7 +81,7 @@
SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -718,10 +718,10 @@
{
nearbase_distlist[nearmsg_i] = 0x1ffff;
}
-//mainbase_id = 0x9818;
+//mainbase_id = 0x1;
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] = NEAR_MSG;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_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
@@ -752,7 +752,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!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] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
@@ -831,18 +831,18 @@
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
+ tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
@@ -902,7 +902,7 @@
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
- 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] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //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
@@ -920,7 +920,7 @@
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], 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[MESSAGE_TYPE_IDX]=POS_FINAL;
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
{
@@ -1008,7 +1008,7 @@
{
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ trygetnearmsg_times = 0;
}
#endif
@@ -1070,9 +1070,19 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- // if(motor_keeptime==0)
+ if(motor_keeptime==0)
motor_keeptime = rec_remotepara[3];
- }else{
+ }else if( pack_index == 2*COM_INTERVAL)
+ {
+ if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ save_com_map_to_flash();
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ }
+ }
+ else{
if(pack_index<200)
{
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
@@ -1085,14 +1095,14 @@
}
}
}
- if(get_newdist>2)
+ if(get_newdist>=2)
{
notenoughdist_count = 0;
}else{
- if(notenoughdist_count++>3)
+ if(notenoughdist_count++>10)
{
notenoughdist_count = 0;
- // tag_state = DISCPOLL;
+ tag_state = DISCPOLL;
}
}
for(i=0;i<nearbase_num;i++)
@@ -1248,6 +1258,8 @@
// Poll();
break;
}
+ FZNearPoll();
+ dwt_forcetrxoff();
userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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