V1.35 大连电牵，测试版本。配置回复变成立即回复，收到数据才不重启

zhyinch

2020-11-17 c8fa9e7b73d663fd1ee78632d38cea1b49c14d39

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,11 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=GETNEARMSG;
}tag_state=NEARPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -28,7 +29,7 @@

static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;	
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;	
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -347,7 +348,7 @@
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num*0.4)+3;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -446,7 +447,33 @@
                           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)
                           {
                              g_Resttimer=0;
                              #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

                           //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{
@@ -477,8 +504,14 @@
                              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);				
                              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;
@@ -522,7 +555,7 @@
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;		
      tag_state=NEARPOLL;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -580,13 +613,13 @@
         }
         
      //   printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
//         #ifdef USART_INTEGRATE_OUTPUT		
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            UART_PushFrame(usart_send,6+report_num*6);
//         #endif
         #ifdef USART_INTEGRATE_OUTPUT		
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -655,13 +688,19 @@
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
   
            #ifdef USART_INTEGRATE_OUTPUT		
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
}

void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   switch(tag_state)
   {
@@ -735,7 +774,7 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = 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
@@ -785,7 +824,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -837,7 +876,7 @@

         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
            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
@@ -879,26 +918,34 @@
               tof = tof_dtu * DWT_TIME_UNITS;
               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
					
               getrange_success = 1;
               g_Resttimer=0;
               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];
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<100000)
               if(hex_dist>-10000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               tagdist_list[taglist_pos] = filter_dist;	
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;	
                  g_Tagdist[taglist_pos]=filter_dist;	
            #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
               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);
@@ -942,6 +989,7 @@
//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   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();
   };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -949,20 +997,20 @@
   { 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];
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
      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)
            {
@@ -1003,7 +1051,7 @@
            }
            break;
      
         case NEAR_POLL:			
         case NEAR_POLL:						
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)