V2.52 改正dicpoll FINAL 标志位bug

zhyinch

2022-10-11 b930edd3675dbc937717ae680b2aee4593a3e414

 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};
@@ -398,7 +398,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
         if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
            {
               uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -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;
@@ -480,6 +480,7 @@
double Ra, Rb, Da, Db;
int64_t tof_dtu;
u32 errortimes,goodtimes;
u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   
@@ -496,7 +497,13 @@
         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&&userdatasend_flag[taglist_pos] == 1)
            {
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
                tagpossend_flag = 1;
            }else{
                tagpossend_flag = 0;
            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;   
@@ -505,7 +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)
@@ -536,8 +543,8 @@
            if(finalsend == 0)
                {
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                  dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(28, 0);//设定发送长度
                  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)
@@ -604,7 +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;
@@ -617,21 +624,21 @@
                    g_Tagdist[taglist_pos]=hex_dist;   
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
//            #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_nb2;//数据段长度
//               memcpy(&usart_send[5],&tag_id_recv,2);
//               memcpy(&usart_send[7],&dev_id,2);				
//               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
//               usart_send[13] = battary;
//               usart_send[14] = button;
//               usart_send[15] = firstpath_power;
//               usart_send[16] = (rx_power-firstpath_power)*10;
//               usart_send[17] = tag_frequency;
//               usart_send[18] = tag_slotpos;
//               checksum = Checksum_u16(&usart_send[2],17);
//               memcpy(&usart_send[19],&checksum,2);
//            //   UART_PushFrame(usart_send,21);
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);				
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = (rx_power-firstpath_power)*10;
               usart_send[17] = tag_frequency;
               usart_send[18] = tag_slotpos;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               //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);
@@ -725,7 +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)
@@ -864,7 +871,7 @@
         }
      
      }
      if(i==MAX_REGTAGNUM)
      if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
      {
         dwt_readdiagnostics(&d1);
         LOS(&d1);   
@@ -912,9 +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];