修改部分bug

zhyinch

2020-05-31 5b130136a057f2cec4df6b4f14165b503e8ac816

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -171,14 +171,23 @@
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
{
   g_start_sync_flag=1;
   dwt_forcetrxoff();
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
{u8 result;
   g_start_sync_flag=1;   //中断模式，退出终端后，需要重新来过
   dwt_forcetrxoff();      //关闭接收，以防在RX ON çŠ¶æ€
	
	
   tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
   memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
   dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE);
   if(result==0)
         {
          while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
                { };
      }
          dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
}
uint16_t g_Resttimer;
uint8_t result;
@@ -193,20 +202,20 @@

u16 anclist_num=0,anclist_pos; //list æ€»æ•°é‡å’Œå½“前位置
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num=0;
u16 nearbaseid_list[10],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[10],true_nearbase_distlist[MAX_NEARBASE_NUM];
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num;
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;

u8 FindNearBasePos(u16 baseid)
{
   u8 i;
   for(i=0;i<=nearbase_num;i++)
   for(i=0;i<last_nearbase_num;i++)
   {
      if(baseid==nearbaseid_list[i])
         return i;
   }
   return i+1;
   return i;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD  5
@@ -240,11 +249,13 @@
      change_base_count=0;
   }
}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
u16 temp_sync_timer1,temp_sync_timer2;
void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend;
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
@@ -255,13 +266,15 @@
    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;
   if(nearbase_num>=MAX_NEARBASE_NUM)
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      nearbase_num = MAX_NEARBASE_NUM-1;
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   //nearbase_num=0;
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
	
   tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -272,14 +285,13 @@
   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
   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

   for(i=0;i<MAX_NEARBASE_NUM;i++)
   exsistbase_list[i]=0;
   
   flag_finalsend=0;
   flag_rxon=1;
   neartimout_timer=0;

   timeout=nearbase_num/4+2;
   get_newbase=0;
   timeout=ceil((float)nearbase_num/4)+2;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
         while(neartimout_timer<timeout)
@@ -292,6 +304,7 @@
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
                        flag_finalsend=0;
                        flag_rxon=0;
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
@@ -319,26 +332,29 @@
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(nearbase_num==0)
                        if(last_nearbase_num==0)
                        {
                        nearbaseid_list[0]=rec_nearbaseid;
                        nearbase_num=1;
                        memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           get_newbase=1;
                           nearbaseid_list[0]=rec_nearbaseid;
                           nearbase_num=1;
                           memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                        }
                        if(rec_nearbaseid==nearbaseid_list[0])
                        {
                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           exsistbase_list[0]=1;
                           sync_timer=temp_sync_timer1;
                           exsistbase_list[0]=KEEP_TIMES;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
//                           
                           tmp_time=tmp_time+450;
                           tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1010)
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
@@ -348,7 +364,7 @@
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=1;
                           exsistbase_list[rec_nearbasepos]=10;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -384,14 +400,15 @@
                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           if(rec_nearbasepos>nearbase_num)          //发现新的基站
                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           {
                              get_newbase=1;
                              nearbase_num++;
                              nearbaseid_list[nearbase_num] = rec_nearbaseid;
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
                           
                           exsistbase_list[rec_nearbasepos]=1;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -421,9 +438,22 @@
                        }
                     }                           
                     }
                  }			
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     }								
                  }							
         }
            GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
//         if(result==0)
//         {
//          while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
//                { };
//      }
//          dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
	
         dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
         j=0;
         if(exsistbase_list[0]==0)
@@ -437,44 +467,63 @@
            }
            tyncpoll_time=(random_value%max_slotpos)*slottime;   
         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
      //   tyncpoll_time=0;
         next_nearbase_num=0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
            if(exsistbase_list[i]==1)
            if(exsistbase_list[i]>0)
            {
				
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];         
               true_nearbase_distlist[j++]=nearbase_distlist[i];
               exsistbase_list[i]--;
            }
			
         }
		
         for(i=0;i<nearbase_num-1;i++)

         if(recbase_num<3)
         {next_nearbase_num=next_nearbase_num;}
               last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<nearbase_num-1;j++)
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  u32 temp_dist,temp_id;
                  u32 temp_dist,temp_id,temp_exsis;
                  temp_dist=true_nearbase_distlist[j];
                  temp_id = true_nearbase_idlist[j];
                  temp_exsis=true_exsistbase_list[i];
                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                  true_nearbase_distlist[j+1]=temp_dist;
                  true_nearbase_idlist[j+1]=temp_id;
                  true_exsistbase_list[j+1]=temp_exsis;
               }         
            }
         }
			
         report_num=0;
   for (i=0;i<nearbase_num;i++)
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff)
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               report_num++;
            }
         }
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }
			
      //   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
@@ -573,9 +622,9 @@
   for(i=0;i<taglist_num;i++)
   {
      if(memcmp(&tagid,&tagid_list[i],2)==0)
         return i+1;
         break;
   }
   return 0;
   return i;
}
uint32_t frame_len;
uint32_t resp_tx_time;
@@ -675,10 +724,11 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
	
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         dwt_writetxdata(20, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(20, 0);//设定发送长度
			
         dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(21, 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];
@@ -732,6 +782,7 @@
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<100000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
@@ -757,21 +808,27 @@
               anc_report_num++;
            #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num++;
               }
            }
         }
      
         }else{
               //printf("%x/n",status_reg);
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
   
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
void Anchor_App(void)
{
   
   u8 send_len,i;
   u16 tempid;
   uint32_t rec_syncid;
	
   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
@@ -790,18 +847,6 @@
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      //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);
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      taglist_pos=CmpTagInList(tag_id_recv);
      if(taglist_pos==0)
      {
         tagid_list[taglist_num++]=tag_id_recv;
         taglist_pos=taglist_num;
         new_tagid=1;
      }else{
         new_tagid=0;
      }
      tagofflinetime[taglist_pos-1]=0;
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -809,13 +854,30 @@
//            Anchor_RecPoll();
//            break;
         case SYNC:
            if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)		
               {
                  sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                  TIM3->CNT = sync_seq*325%1000+15;
                  sync_timer = sync_seq*325/1000;
                  SyncPoll(sync_seq);
               }
				
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
               current_syncid=rec_syncid;
               flag_syncbase=0;
               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
               TIM3->CNT = sync_seq*325%1000+15;
               sync_timer = sync_seq*325/1000;
               synclost_timer=0;
               //SyncPoll(sync_seq,rec_syncid);			
               }else if(rec_syncid==current_syncid)
            {
               if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)		
                  {
                     flag_syncbase=0;
                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                     TIM3->CNT = sync_seq*325%1000+5;
                     sync_timer = sync_seq*325/1000+995;
                     synclost_timer=0;
                     //SyncPoll(sync_seq,rec_syncid);
                  }
				
            }
            break;
//         case NEAR_MSG:
//            if(anc_id_recv==dev_id)
@@ -834,6 +896,21 @@
//      
         case NEAR_POLL:
            
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
		
				
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         
            for(i=0;i<rec_nearbase_num;i++)