zhyinch
2020-10-19 8e3c571a48a30e8c1bd07dca4786a53d7c9994f5
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -551,14 +551,8 @@
                        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(last_nearbase_num==0)
                        {
                           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])
                        if(rec_nearbaseid==mainbase_id)
                        {
                           //////////////////////////////////时间同步
                           temp_sync_timer2=sync_timer;
@@ -593,7 +587,7 @@
                           rec_nearbasepos=0;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           mainbase_dist = temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                        
@@ -611,35 +605,6 @@
                           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)
                           {
                           #ifdef TAG_OUTPUT
                              #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
                           #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{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -767,17 +732,7 @@
         }
         
         report_num=0;
   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&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               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;
@@ -1227,6 +1182,10 @@
                  ancidlist_num=rec_nearbase_num;
                  memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
               }
         if(anc_id_recv==dev_id)
         {
            Anchor_RecNearPoll(0);
         }else{
               
            for(i=0;i<rec_nearbase_num;i++)
            {
@@ -1234,10 +1193,11 @@
               if(tempid==dev_id)
               {
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i);
                  Anchor_RecNearPoll(i+1);
                  break;
               }                  
            }
         }
            //抢占模式
//               if(i==rec_nearbase_num)
//               {