V1.22 去掉标签串口输出

zhyinch

2020-07-24 2e895d0a7b81c6216457ddd23690c1249ceb993d

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -402,7 +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)
                           {
@@ -426,10 +426,12 @@
//                              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;
@@ -457,9 +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
@@ -480,7 +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
@@ -576,13 +580,13 @@
         }
         
      //   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;
@@ -784,6 +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);
@@ -795,7 +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;
@@ -805,9 +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];
@@ -871,7 +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);
@@ -930,7 +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: