V1.15

zhyinch

2020-06-08 66596268c0f602ecc7ccbb34ea2b649108179eea

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -251,10 +251,31 @@
//      change_base_count=0;
//   }
//}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
   u8 i;
   for(i=dev_id%32;i<max_slotpos;i++)
   {
      if(((emptyslot>>i)&0x1)==0)
      {
         return i;
      }
   }
	
      for(i=1;i<max_slotpos;i++)
   {
      if(((emptyslot>>i)&0x1)==0)
      {
         return i;
      }
   }
return max_slotpos-1;
}
u8 test=0;
u8 anclost_times=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)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -383,6 +404,9 @@
                           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);
                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
									
                           if(temp_dist!=0x1ffff)
                           {
                           #ifndef USART_INTEGRATE_OUTPUT
@@ -460,14 +484,14 @@
         j=0;
         if(exsistbase_list[0]==0)
         {
          u8 temp_adc,random_value;
            random_value=0;
            for(i=0;i<8;i++)
            {
               temp_adc=Get_ADC_Value();
               random_value=random_value|((temp_adc&0x01)<<i);
            }
            tyncpoll_time=(random_value%max_slotpos)*slottime;	
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -475,7 +499,6 @@
         {
            if(exsistbase_list[i]>0)
            {
				
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];         
@@ -553,8 +576,7 @@


}
u8 nearmsg_mainbase=0;
u32 rec_tagpos_binary;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
   u32 start_poll,frame_len;
@@ -591,9 +613,9 @@
      {
         next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
         tagslotpos=rx_buffer[TAGSLOTPOS];
         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;
      }
@@ -615,8 +637,6 @@
      case NEARPOLL:
            NearPoll();
         break;
	
	
   }

}
@@ -836,12 +856,10 @@
               }
            }
         }
		
         }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;
@@ -871,8 +889,9 @@
      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];
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -880,7 +899,6 @@
//            Anchor_RecPoll();
//            break;
         case SYNC:
				
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -922,9 +940,7 @@
            break;
      
         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)
            {
@@ -939,6 +955,12 @@
           temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
               }
         
            for(i=0;i<rec_nearbase_num;i++)
            {
@@ -955,19 +977,11 @@
                  seize_anchor=1;   //抢占anchor
                  Anchor_RecNearPoll(i);   
               }
               if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
               }

            
            break;
		
      }
		
   }
   else
   {
   }else{
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}