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zhyinch

2022-05-12 97ae3565c364be9df5c9d15257461b981f077126

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -7,9 +7,9 @@
   NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
   2,               /* Channel number. */
   3,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_64,    /* Preamble length. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
   9,               /* TX preamble code. Used in TX only. */
   9,               /* RX preamble code. Used in RX only. */
@@ -23,7 +23,7 @@
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
static uint8_t tx_nearresp_msg[80] = {0};
static uint8_t tx_nearresp_msg[90] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};

static uint8_t tx_near_msg[80] = {0};
@@ -472,7 +472,7 @@
}
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -497,9 +497,9 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         //dwt_readdiagnostics(&d1);
                           if(tagpos[taglist_pos].tagid==tag_id_recv)
         if(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
            {
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
                tagpossend_flag = 1;
            }else{
                tagpossend_flag = 0;
@@ -512,7 +512,7 @@
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         waittagconfig_reponse=0;
            finalsend = 0;
         if(pwtag.remain_time>0)
@@ -543,8 +543,8 @@
            if(finalsend == 0)
                {
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                  dwt_writetxdata(28+tagpossend_flag*16, tx_nearresp_msg, 0);//д????????
                  dwt_writetxfctrl(28+tagpossend_flag*16, 0);//?څ???????
                  dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//д????????
                  dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?څ???????
            }
               
//          if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -611,7 +611,7 @@
               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];
					
               userdatasend_flag[taglist_pos] =0;
               if(hex_dist>-1000&&hex_dist<200000)
               {
                        g_flag_Taggetdist[taglist_pos]=0;
@@ -638,7 +638,7 @@
               usart_send[18] = tag_slotpos;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               //UART_PushFrame(usart_send,21);
//            #else      
//               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
//               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -732,7 +732,7 @@
      {
         uint16_t checksum;
            case DISCOVERPOLL:
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
                {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
@@ -871,7 +871,7 @@
         }
      
      }
      if(i==MAX_REGTAGNUM)
      if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
      {
         dwt_readdiagnostics(&d1);
         LOS(&d1);   
@@ -919,9 +919,9 @@
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
           //     if(anc_id_recv == dev_id )
                if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
                {
                usart_send[2] = 0x0c;//正常模式 
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
@@ -942,7 +942,7 @@
                    
               checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
               memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
            //   UART_PushFrame(usart_send,27+8*rec_nearbase_num);
               UART_PushFrame(usart_send,27+8*rec_nearbase_num);
//               UART_CheckSend();
               
               timm++;