V1.69

zhyinch

2022-03-29 12b8ab1d9cd575e0975ea1dbcf99ad761aecdf66

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -315,9 +315,9 @@
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;

extern u8 usartrec_userdatalen,heartbeat_timer;
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -344,20 +344,23 @@
   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
   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);
    tx_nearpoll_msg[POLL_USERDATA_IDX] = usartrec_userdatalen;
    memcpy(&tx_nearpoll_msg[POLL_USERDATA_IDX+1],&uartrec_userdata,usartrec_userdatalen);
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    for(i=0;i<nearbase_num;i++)
    { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
    
    memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
    memcpy(&tx_nearpoll_msg[KUIXIANLEN_INDEX],&g_commap_antdelay,2);
    
        for(i=0;i<MAX_NEARBASE_NUM;i++)
    {
        nearbase_distlist[i]=0x1ffff;
    }
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
   dwt_writetxdata(15+4*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(15+4*nearbase_num, 0);//设置超宽带发送数据长度
    
   dwt_writetxdata(27+4*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(27+4*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;
@@ -462,30 +465,35 @@
                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                                    tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           dwt_writetxfctrl(28+nearbase_num*4, 0);// è®¾å®šå‘送数据长度
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                    ClearUWBUserData();
                                    uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
                                    if(uwbrec_userdatalen<=USERDATA_MAXLEN)
                                    {
                                        memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
                                    }
                        if(temp_dist!=0x1ffff )
                           {
                              g_Resttimer=0;
                                        IWDG_Feed();
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[3] = 29;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {

                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);	
                              }											
																				
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        memcpy(&usart_send[17],selftest,2);        
                                        memcpy(&usart_send[21],uwbrec_userdata,10);
                                        checksum = Checksum_u16(&usart_send[2],29);
                                        memcpy(&usart_send[31],&checksum,2);
                                        UART_PushFrame(usart_send,33);
                                        heartbeat_timer = 0;
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -506,6 +514,12 @@
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                                    ClearUWBUserData();
                                    uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
                                    if(uwbrec_userdatalen<=USERDATA_MAXLEN)
                                    {
                                        memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
                                    }
                           
                           if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -516,26 +530,25 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                           if(temp_dist!=0x1ffff )
                           {
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[3] = 29;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {

                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);	
                              }											
																					
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        memcpy(&usart_send[17],selftest,2);        
                                        memcpy(&usart_send[21],uwbrec_userdata,10);
                                        checksum = Checksum_u16(&usart_send[2],29);
                                        memcpy(&usart_send[31],&checksum,2);
                                        UART_PushFrame(usart_send,33);
                                        heartbeat_timer = 0;
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -868,9 +881,11 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
u8 motorstate=0;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
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);
@@ -913,14 +928,18 @@
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
            if(usartrec_userdatalen<=USERDATA_MAXLEN)
            {tx_nearresp_msg[RESPONSE_USERDATA_IDX] = usartrec_userdatalen;
                memcpy(&tx_nearresp_msg[RESPONSE_USERDATA_IDX+1],uartrec_userdata,usartrec_userdatalen);
            }
//         if(remotesend_state)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//            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{
         dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(24, 0);//设定发送长度
         dwt_writetxdata(24+11, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(24+11, 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

@@ -1017,7 +1036,7 @@
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[3] = 29;//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);         
@@ -1028,11 +1047,12 @@
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = rx_power;
                    memcpy(&usart_send[19],selftest,2);        
                    memcpy(&usart_send[21],uartrec_userdata,10);
                    memcpy(&usart_send[17],selftest,2);        
                    memcpy(&usart_send[21],uwbrec_userdata,10);
               checksum = Checksum_u16(&usart_send[2],29);
               memcpy(&usart_send[31],&checksum,2);
               UART_PushFrame(usart_send,33);
                            heartbeat_timer = 0;
            #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);
@@ -1051,7 +1071,7 @@
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;

u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
@@ -1141,7 +1161,11 @@
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
                memcpy(&rec_antdelay,&rx_buffer[KUIXIANLEN_INDEX],2);
                ClearUWBUserData();
                uwbrec_userdatalen = rx_buffer[POLL_USERDATA_IDX];
                if(uwbrec_userdatalen<=20)
                memcpy(uwbrec_userdata,&rx_buffer[POLL_USERDATA_IDX+1],uwbrec_userdatalen);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度