基本测试完成V1.14

zhyinch

2020-05-08 829eef8555abe71bc3eb5b090d690fbe53763ad7

 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;
@@ -194,8 +203,8 @@
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];
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];
uint8_t trygetnearmsg_times;

u8 FindNearBasePos(u16 baseid)
@@ -242,9 +251,10 @@
}
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
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 +265,13 @@
    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;
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(nearbase_num>=MAX_NEARBASE_NUM)
   {
      nearbase_num = MAX_NEARBASE_NUM-1;
   }
   //nearbase_num=0;
   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++;
@@ -277,9 +287,11 @@
   exsistbase_list[i]=0;
   
   flag_finalsend=0;
   flag_rxon=1;
   neartimout_timer=0;

   timeout=nearbase_num/4+2;
   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   
@@ -328,8 +341,10 @@
                        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);
                           sync_timer=temp_sync_timer1;
                           exsistbase_list[0]=1;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
//                           
@@ -421,9 +436,22 @@
                        }
                     }                           
                     }
                  }			
                  }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)
@@ -475,6 +503,7 @@
               report_num++;
            }
         }
      //   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
@@ -757,21 +786,27 @@
               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
@@ -795,6 +830,7 @@
      taglist_pos=CmpTagInList(tag_id_recv);
      if(taglist_pos==0)
      {
         synclost_timer=0;
         tagid_list[taglist_num++]=tag_id_recv;
         taglist_pos=taglist_num;
         new_tagid=1;
@@ -809,13 +845,30 @@
//            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+15;
                     sync_timer = sync_seq*325/1000;
                     synclost_timer=0;
                     SyncPoll(sync_seq,rec_syncid);
                  }
				
            }
            break;
//         case NEAR_MSG:
//            if(anc_id_recv==dev_id)