未完成

zhyinch

2021-11-10 1cfdce04c6fc1f67e3b5538b0bc90e0c77a71765

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -315,11 +315,23 @@
   }
return max_slotpos-1;
}
void OutputUserData(u16 devid,u8* addr,u8 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);
            memcpy(&usart_send[6],addr,len);
            checksum = Checksum_u16(&usart_send[2],len+4);
            memcpy(&usart_send[len+6],&checksum,2);
            UART_PushFrame(usart_send,len+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;

extern u8 userdata[50];
u8 tagrec_userdata[20],tagrec_datalen;
extern u32 getuserdata_tick;
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -348,8 +360,15 @@
   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);   
   dwt_writetxdata(13+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+2*nearbase_num, 0);//设置超宽带发送数据长度
	
   if(time32_incr-getuserdata_tick<500)
   {memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+1);	
   }else{
      userdata[0] = 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_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;
@@ -437,6 +456,12 @@
                           rec_nearbasepos=0;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                        if(tagrec_datalen==USERDATA_LEN)
                        {
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                        }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -495,6 +520,12 @@
                           }
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           tagrec_datalen = rx_buffer[RT_USERDATA_INDEX];
                           if(tagrec_datalen==USERDATA_LEN)
                           {
                              memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX],tagrec_datalen+1);
                              OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);									
                           }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(temp_dist!=0x1ffff)
@@ -890,14 +921,21 @@
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
				
         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(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
				
         if(time32_incr-getuserdata_tick<500)
         {   memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+1);
         }else{
            userdata[0] = 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
         }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

@@ -1083,7 +1121,7 @@
            }
            break;
      
         case NEAR_POLL:						
         case NEAR_POLL:				
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
@@ -1101,7 +1139,12 @@
          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];
            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_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;