V2.30

zhyinch

2021-09-28 66b13717fce3890b464d0b43eb61b94ea7cdf56e

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -840,6 +840,7 @@
   }
   return i;
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -905,11 +906,44 @@
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               if(abs(hex_dist-his_dist[taglist_pos])<1000)
                  {
                     tagdist_list[taglist_pos] = hex_dist;
                        }
                  his_dist[taglist_pos]=hex_dist;							
if(hex_dist>-1000&&hex_dist<200000)
               {
                        g_flag_Taggetdist[taglist_pos]=0;
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;	
                  g_Tagdist[taglist_pos]=hex_dist;	
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);				
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = (rx_power-firstpath_power)*10;
               usart_send[17] = tag_frequency;
               usart_send[18] = tag_slotpos;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
            #else		
               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
             #ifdef DEBUG_INF
             printf("序号：%d\r\n",frame_seq_nb2);
             #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }						
            }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -919,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   
@@ -939,11 +973,10 @@
         
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            tagdist_list[taglist_pos]=0x1ffff;	
         }
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -970,12 +1003,15 @@
                     break;
                  }            
               }
                }else{
                    
                }
               
            if(finalsend == 0)
                {
                  dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(24, 0);//设定发送长度
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                  dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(28, 0);//设定发送长度
            }
               
//          if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1054,7 +1090,8 @@
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;	
                    g_Tagdist[taglist_pos]=hex_dist;	
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -1108,9 +1145,9 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
void Anchor_App(void)
@@ -1145,9 +1182,93 @@
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
         uint16_t checksum;
         case POLL:
            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            case DISCOVERPOLL:
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
                {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
            Anchor_RecPoll();
                }
                break;
         case SPOLL:
            //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
            {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;
                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = rec_nearbase_num;
                   
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
               memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
                    
               checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
               memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,19+8*rec_nearbase_num);
            Anchor_RecPoll();
            }
            break;
         case SYNC:         
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
@@ -1211,6 +1332,7 @@
         memcpy(&usart_send[6],&tag_id_recv,2);
         memcpy(&usart_send[8],&rx_buffer[10],9);
         usart_send[17] = firstpath_power;
            memcpy(&usart_send[18],&rx_buffer[19],2);
         checksum = Checksum_u16(&usart_send[2],20);
         memcpy(&usart_send[22],&checksum,2);
         UART_PushFrame(usart_send,24);
@@ -1234,15 +1356,22 @@
                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];
                if(rec_nearbase_num>30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
      ////////////////基站汇总模式数据          
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
                if(anc_id_recv == dev_id )
                {
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
@@ -1250,6 +1379,7 @@
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;

                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
@@ -1259,11 +1389,12 @@
                    memcpy(&usart_send[17],&anc_id_recv,2);
                    memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
					
                memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
                    
               checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
               memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,27+8*rec_nearbase_num);

                }
    //////////////////////////////////////////////////////////////