V1.31 标签有点bug

zhyinch

2020-10-29 613cb918c5d9d0c7bef84514c21dcca216d7b334

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -5,7 +5,7 @@
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=GETNEARMSG;
}tag_state=NEARPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -28,7 +28,7 @@

static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;	
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;	
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -347,7 +347,7 @@
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num*0.4)+3;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -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;
@@ -444,7 +446,32 @@
                           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
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);		
                              }else{
                              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;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }
      
                           
                        }else{
@@ -457,9 +484,11 @@
                              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
@@ -473,8 +502,14 @@
                              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
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);				
                              memcpy(&usart_send[7],&rec_nearbaseid,2);		
                              }else{
                              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;
                              usart_send[14] = button;
@@ -518,7 +553,7 @@
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;		
      tag_state=NEARPOLL;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -651,6 +686,13 @@
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
   
            #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
}

void Tag_App(void)//发送模式(TAG标签)
@@ -731,7 +773,7 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
@@ -781,7 +823,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -799,7 +841,7 @@
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =3;
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
@@ -833,7 +875,7 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -878,12 +920,12 @@
               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离            
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
					
               getrange_success = 1;
               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(hex_dist>-1000&&hex_dist<200000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
@@ -894,7 +936,7 @@
            #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
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);            
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
@@ -938,6 +980,7 @@
//   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);   
@@ -945,20 +988,21 @@
   { u16 tag_recv_interval;
      float temp_tagpos;
   
      g_Resttimer=0;

      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
      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:
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:			
         case SYNC:		
            g_Resttimer=0;				
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -999,7 +1043,8 @@
            }
            break;
      
         case NEAR_POLL:			
         case NEAR_POLL:		
            g_Resttimer=0;				
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)