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zhyinch

2020-06-28 0b743fcf84103459673ec08ed683a9c767f7b367

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -208,17 +208,24 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
u16 current_slotnum,total_slotnum,target_time;
u16 current_slotnum,total_slotnum,target_time,last_time;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
   if(current_slotnum>=total_slotnum)
   current_slotnum++;
   if(current_slotnum==total_slotnum)
      current_slotnum-=total_slotnum;
   //time=5;
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
   if(target_time>=990&&target_time<1000)

   last_time=target_time;
   if(target_time>=990&&target_time<992)
   {
      current_slotnum++;
   target_time+=g_com_map[COM_INTERVAL];
   tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
   tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
   }   
   if(target_time>=1000)
   {target_time-=1000;}
@@ -303,8 +310,7 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;

 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -341,7 +347,7 @@
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num/4)+2;
   timeout=ceil((float)nearbase_num*0.4)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -414,6 +420,7 @@
                           }
                           TIM3->CNT=tmp_time;
                        }
                           current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
@@ -510,7 +517,8 @@
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -555,7 +563,7 @@
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
@@ -568,13 +576,13 @@
         }
         
      //   printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
//         #ifdef USART_INTEGRATE_OUTPUT		
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            UART_PushFrame(usart_send,6+report_num*6);
//         #endif
         #ifdef USART_INTEGRATE_OUTPUT		
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -633,9 +641,11 @@
         tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
         slottime=ceil((nearbase_num+2)*0.3)+1;
         //slottime=ceil((nearbase_num+2)*0.4)+2;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }else{
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
@@ -661,8 +671,9 @@
            NearPoll();
         break;
   }
   current_slotnum++;

   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;		
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
}

@@ -773,6 +784,7 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
         tmp_time=TIM3->CNT;
         memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -784,7 +796,20 @@
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

			
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =3;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -795,8 +820,8 @@
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         
         dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(21, 0);//设定发送长度
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 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

         battary = rx_buffer[BATTARY_IDX];
@@ -860,7 +885,7 @@
               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[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);