V1.18，武汉测试不错版本，为上一版本修改间隔到DELAY_BETWEEN_TWO_FRAME_UUS 300us

zhyinch

2020-06-15 8eeb0e8fbbde5e9cb33d895223322449fd58f345

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -251,10 +251,42 @@
//      change_base_count=0;
//   }
//}
uint8_t GetRandomValue(void)
{
   uint8_t random_value=0,temp_adc,i;
   for(i=0;i<8;i++)
   {
      temp_adc=Get_ADC_Value();
      random_value=random_value|((temp_adc&0x01)<<i);
   }
   return random_value;
}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
   u8 i,temp_value;
   temp_value = GetRandomValue();
   for(i=temp_value%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 +415,8 @@
                           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

									
                           if(temp_dist!=0x1ffff)
                           {
                           #ifndef USART_INTEGRATE_OUTPUT
@@ -418,6 +452,8 @@
                           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
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff)
                           {
                              #ifndef USART_INTEGRATE_OUTPUT
@@ -460,22 +496,21 @@
         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;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
            if(exsistbase_list[i]>0)
            {
				
            {		
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];         
@@ -553,8 +588,7 @@


}
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 +625,9 @@
      {
         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;
      }
@@ -610,13 +644,11 @@
         
         break;
      case GETNEARMSG:
         GetNearMsg();
           GetNearMsg();
         break;
      case NEARPOLL:
            NearPoll();
         break;
	
	
   }

}
@@ -836,12 +868,10 @@
               }
            }
         }
		
         }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;
@@ -862,25 +892,26 @@
   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();
      g_Resttimer=0;
   };

   if (status_reg & SYS_STATUS_RXFCG)//成功接收
   { 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];
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:
				
         case SYNC:			
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -921,10 +952,8 @@
            }
            break;
      
         case NEAR_POLL:
				
         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)
            {
@@ -936,10 +965,16 @@
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
           temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
          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++)
            {
                memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -955,19 +990,11 @@
                  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
   {
            break;		
      }	
   }else{
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}