V1.22 去掉标签串口输出

zhyinch

2020-07-24 2e895d0a7b81c6216457ddd23690c1249ceb993d

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -208,7 +208,31 @@
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,last_time;
u32 rec_tagpos_binary;
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
   current_slotnum++;
   if(current_slotnum==total_slotnum)
      current_slotnum-=total_slotnum;
   //time=5;
   target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);

   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;}
   if(target_time<0)
   {target_time+=1000;}

}
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -265,7 +289,7 @@
{
   u8 i,temp_value;
   temp_value = GetRandomValue();
   for(i=temp_value%32;i<max_slotpos;i++)
   for(i=temp_value%max_slotpos;i<max_slotpos;i++)
   {
      if(((emptyslot>>i)&0x1)==0)
      {
@@ -286,7 +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;

 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -323,7 +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++;
@@ -378,7 +402,7 @@
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           exsistbase_list[0]=KEEP_TIMES;
									
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
@@ -396,15 +420,18 @@
                           }
                           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;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
									
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
									
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
								
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
@@ -432,9 +459,11 @@
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
                           
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
									
                           if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
@@ -455,7 +484,7 @@
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                           //   UART_PushFrame(usart_send,21);
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -491,8 +520,9 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -537,7 +567,7 @@
         {
            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);
@@ -572,7 +602,7 @@
//         }else{
//            anclost_times=0;
//         }

dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
@@ -615,13 +645,16 @@
         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;
   }
	
}

void Tag_App(void)//发送模式(TAG标签)
@@ -629,6 +662,7 @@
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
   switch(tag_state)
   {
      case DISCPOLL:
@@ -642,6 +676,9 @@
         break;
   }

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

int8_t correction_time,new_tagid=0;
@@ -751,6 +788,7 @@
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);
@@ -762,7 +800,20 @@
         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 =0;
         }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;
         }
			
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -772,9 +823,16 @@
         }
         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
         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
         }
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         battary = rx_buffer[BATTARY_IDX];
@@ -838,7 +896,7 @@
               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);
@@ -867,7 +925,6 @@
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
extern uint32_t tagpos_binary;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -877,15 +934,17 @@
   u16 tempid;
   uint32_t rec_syncid;
   
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
   g_start_sync_flag=0;

   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收

//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);	
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
   };

//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);	
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { u16 tag_recv_interval;
      float temp_tagpos;
@@ -896,7 +955,7 @@
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL: