修改部分bug，串口做输出接口。

zhyinch

2020-03-25 b32ba27dec812f8233cfddde10f562d8c3366b26

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -193,6 +193,7 @@
u8 nearbase_num;
u16 nearbaseid_list[10],mainbase_id;
int32_t mainbase_dist,nearbase_distlist[10];
uint8_t trygetnearmsg_times;
void Poll(void)
{
   uint32_t frame_len;
@@ -269,6 +270,8 @@
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            mindist=temp_dist;
         }
         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
@@ -298,7 +301,7 @@
      }
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=0;//minid;
   mainbase_id=minid;
}

u8 FindNearBasePos(u16 baseid)
@@ -310,14 +313,15 @@
         return i;
   }
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD  5
void NearAncSelect(void)
{static u16 last_mainbase_id,change_base_count;
   int32_t nearbase_mindist=99999, nearbase_minpos;
   u8 i;
   for(i=0;i<nearbase_num;i++)
   for(i=0;i<recbase_num-1;i++)
   {
      if(nearbase_mindist<nearbase_distlist[i])
      if(nearbase_mindist>nearbase_distlist[i])
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
@@ -343,11 +347,12 @@
}
void NearPoll(void)
{
   static u8 mainbase_lost_count=0;
   static u8 mainbase_lost_count=0,flag_finalsend;
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,getsync_flag=0,recbase_num,timeout;
   u8 i,getsync_flag=0,timeout;
    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;
@@ -358,19 +363,35 @@
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(24, 0);//设置超宽带发送数据长度
   dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置

   for(i=0;i<nearbase_num;i++)
   nearbase_distlist[i]=0xffff;
	
   flag_finalsend=0;
   neartimout_timer=0;
   recbase_num=0;
   timeout=nearbase_num/4+12;
   timeout=nearbase_num/4+2;
   mainbase_dist=100000;
   mainbase_lost_count++;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
         while(neartimout_timer<timeout)
         {
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
               {
                  if(flag_finalsend)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
                        flag_finalsend=0;
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                        break;
                     }
                  }
                   if(neartimout_timer>timeout)
                        break;
               };
@@ -383,7 +404,7 @@
                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     //dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
@@ -411,9 +432,12 @@
                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+1300) * UUS_TO_DWT_TIME)) >> 8;
                           dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                           temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
@@ -421,7 +445,18 @@
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           dwt_writetxdata(28+nearbase_num*4, tx_near_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
                           result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                              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
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,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);
                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);                        
@@ -429,12 +464,25 @@
                           dwt_writetxdata(28+nearbase_num*4, tx_near_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;
                              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
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,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);

                           //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
                        }                        
                     }
                  }         
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(mainbase_lost_count>5)
         {
@@ -491,6 +539,7 @@
      }
   }
}

void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
@@ -502,10 +551,18 @@
         Poll();
         break;
      case GETNEARMSG:
         GetNearMsg();
      //   if(trygetnearmsg_times--!=0)
         {GetNearMsg();
         }
//         else{
//            tag_state=DISCPOLL;
//         }
	 
         break;
      case NEARPOLL:
         GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
         NearPoll();
         GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
}
@@ -630,8 +687,8 @@

         memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
         dwt_writetxfctrl(17, 0);//设定发送长度
         dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据
         dwt_writetxfctrl(20, 0);//设定发送长度
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         battary = rx_buffer[BATTARY_IDX];
@@ -639,8 +696,10 @@
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
         { };
      }else{
         result++;
      }
         if (status_reg & SYS_STATUS_RXFCG)//接收成功
         {
@@ -708,6 +767,7 @@
{
   u8 send_len,i;
   u16 tempid;
   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
   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