V1.64 只和3个基站测距

zhyinch

2022-05-24 5b6fe0edc2790d1948c09b191a2a565e8874f875

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -294,7 +294,7 @@
   }
   return random_value;
}
u8 GetRandomSlotPos(uint32_t emptyslot)
u8 GetRandomSlotPos(uint32_t emptyslot) //随机选一个位置，如果被占用，则从头到尾选择第一个没被占用的位置
{
   u8 i,temp_value;
   temp_value = GetRandomValue();
@@ -317,6 +317,7 @@
}
void OutputUserData(u16 devid,u8* addr,u8 len)
{
   len++;
            usart_send[2] = 0x11;//正常模式
            usart_send[3] = len+4;//数据段长度
            memcpy(&usart_send[4],&devid,2);
@@ -327,8 +328,8 @@
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,temp_sendlen;
u16 temp_sync_timer1,temp_sync_timer2,rec_userdata_targetid;
extern u8 userdata[50];
u8 tagrec_userdata[20],tagrec_datalen;
extern u32 getuserdata_tick;
@@ -360,15 +361,17 @@
   memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
	
   temp_sendlen = 0;
   if(time32_incr-getuserdata_tick<500)
   {memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+1);	
   {
      temp_sendlen +=7;
      memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+3);	
   }else{
      userdata[0] = 0;
      tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2] = 0;
   }
   
   dwt_writetxdata(14+userdata[0]+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(14+userdata[0]+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_writetxdata(13+temp_sendlen+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+temp_sendlen+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   
   flag_finalsend=0;
@@ -456,11 +459,15 @@
                           rec_nearbasepos=0;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
                        memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
                        if(tagrec_datalen==USERDATA_LEN)
                        {
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                           if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
                           {
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
                           }										
                        }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
@@ -520,12 +527,16 @@
                           }
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                           if(tagrec_datalen==USERDATA_LEN)
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
                        memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
                        if(tagrec_datalen==USERDATA_LEN)
                        {
                           if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
                           {
                              memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                              OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                           }
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);	
                           }						
                        }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(temp_dist!=0x1ffff)
@@ -928,14 +939,17 @@
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度      
         }else{
				
            temp_sendlen = 0;
         if(time32_incr-getuserdata_tick<500)
         {   memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+1);
         {
            temp_sendlen+=7;
            memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+3);
         }else{
            userdata[0] = 0;
            tx_nearresp_msg[RT_USERDATA_INDEX] = 0;
				
         }
         dwt_writetxdata(22+userdata[0]+1, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22+userdata[0]+1, 0);//设定发送长度
         dwt_writetxdata(22+temp_sendlen, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22+temp_sendlen, 0);//设定发送长度
         }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

@@ -1139,11 +1153,15 @@
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            tagrec_datalen = rx_buffer[NEARBASENUM_INDEX+rec_nearbase_num*2];
            tagrec_datalen = rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2];
            memcpy(&rec_userdata_targetid,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],2);
            if(tagrec_datalen==USERDATA_LEN)
            {
               memcpy(tagrec_userdata,&rx_buffer[NEARBASENUM_INDEX+rec_nearbase_num*2],tagrec_datalen+1);
               OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);									
               if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
               {
               memcpy(tagrec_userdata,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2],tagrec_datalen+1);
               OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);		
               }						
            }   
            if(rec_nearbase_num>ancidlist_num)
               {