V1.65

zhyinch

2022-07-21 388017aa9902a6b41dbb2adcc7cbd3cd37c38691

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -314,8 +314,8 @@
return max_slotpos-1;
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
int32_t rec_extratag_dist;
 void NearPoll(void)
@@ -330,6 +330,7 @@
    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
    usartoutput_count = 0;
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
@@ -448,6 +449,9 @@
                           memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
                        
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           temp_dist = temp_dist&0xffffff;
                           rec_extratag_dist = rec_extratag_dist&0xffffff;
								
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -483,12 +487,13 @@
                              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;
                              memcpy(&usart_send[9],&temp_dist,4);
                              usart_send[13] = rx_buffer[DIST_IDX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif
                           }
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
@@ -506,7 +511,7 @@
                              memcpy(&usart_send[7],&rec_extratag_id,2);   
                              }                                 
                              memcpy(&usart_send[9],&rec_extratag_dist,4);
                              usart_send[13] = battary;
                              usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
@@ -527,6 +532,8 @@
                          memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
                           memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           temp_dist = temp_dist&0xffffff;
                           rec_extratag_dist = rec_extratag_dist&0xffffff;
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(temp_dist!=0x1ffff)
@@ -552,12 +559,13 @@
                              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;
                              memcpy(&usart_send[9],&temp_dist,4);
                              usart_send[13] = rx_buffer[DIST_IDX+3];  //电量集成到距离里面输出了
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -577,9 +585,9 @@
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&rec_extratag_id,2);   
                              }											
                              }			
                              memcpy(&usart_send[9],&rec_extratag_dist,4);
                              usart_send[13] = battary;
                              usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
@@ -694,6 +702,15 @@
//         }else{
//            anclost_times=0;
//         }
        if(usartoutput_count>=2)
        {
            usartoutput_notenough = 0;
        }else{
            if(usartoutput_notenough++>10)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
        }
dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
@@ -785,6 +802,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
   u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -938,7 +956,10 @@
         }else{
            motorstate =0;
         }
			
         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
            {
                tagdist_list[taglist_pos]=0x1ffff;
            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -949,13 +970,13 @@
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         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{
         tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(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{
            if(taglist_pos==1)
            {
               memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[0], 2);
@@ -968,7 +989,7 @@
            }               
            dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(28, 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

         
@@ -1042,13 +1063,13 @@
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        //filter_speed = vel_predict[taglist_pos];
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;	
               tagdist_list[taglist_pos] = filter_dist;
               his_dist[taglist_pos]=hex_dist;   
                        if(hex_dist>0)
                  {
@@ -1056,6 +1077,7 @@
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        }
                        tagseq_list[taglist_pos] = frame_seq_nb2;
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -1065,6 +1087,7 @@
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
@@ -1180,7 +1203,7 @@
            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[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #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