V1.18华星测试基站防撞版本

zhyinch

2020-06-17 4864dd7a1bf69e16045c18bc19220b3ce9f55c72

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -284,10 +284,10 @@
}
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;
u16 temp_sync_timer1,temp_sync_timer2;
u32 rec_tagpos_binary;
void NearPoll(void)
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
   uint32_t temp1,temp2,dw_systime;
@@ -296,7 +296,6 @@
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
//   printf("%d",sync_timer);
      dwt_forcetrxoff();
    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;
@@ -379,11 +378,15 @@
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           sync_timer=temp_sync_timer1;
                           exsistbase_list[0]=KEEP_TIMES;
									
                           if(g_com_map[DEV_ROLE]!=0)
                           {
                           sync_timer=temp_sync_timer1;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
//                           
                           tmp_time=tmp_time+650;
									
                              tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
@@ -392,13 +395,13 @@
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
									
                        }
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=10;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -415,25 +418,10 @@
                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           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

                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                           
                           if(temp_dist!=0x1ffff)
                           {
                           #ifndef USART_INTEGRATE_OUTPUT
                              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],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,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);
                           #endif
                           }
                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
		
									
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
@@ -503,7 +491,8 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -561,13 +550,13 @@
         }
         
      //   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;
@@ -584,9 +573,7 @@
//            anclost_times=0;
//         }

   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
@@ -628,15 +615,19 @@
         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;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}

void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
   switch(tag_state)
   {
@@ -845,6 +836,7 @@
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;   
               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[3] = 17;//数据段长度