增加调试信息，调试标签DW芯片状态异常中

zhyinch

2020-09-27 dd981218e231280601596abd643669556b36c102

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -120,7 +120,9 @@
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
   status_reg = dwt_read32bitreg(SYS_STATUS_ID);
    dwt_initialise(DWT_LOADUCODE);//初始化DW1000
   status_reg = dwt_read32bitreg(SYS_STATUS_ID);
   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式

    /* Configure DW1000. See NOTE 6 below. */
@@ -365,6 +367,9 @@
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                                                      #ifdef DEBUG_INF
                           USART_putc(0x33);
                           #endif
                        break;
                     }
                  }
@@ -425,6 +430,9 @@
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                                                   #ifdef DEBUG_INF
                           USART_putc(0x31);
                           #endif
                           rec_nearbasepos=0;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
@@ -465,7 +473,7 @@
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                           //   UART_PushFrame(usart_send,21);
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -483,7 +491,9 @@
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
									
                           #ifdef DEBUG_INF
                           USART_putc(0x32);
                           #endif
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
@@ -515,7 +525,7 @@
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              //UART_PushFrame(usart_send,21);
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -525,6 +535,9 @@
                     }                           
                     }
                  }else{
                      #ifdef DEBUG_INF
                        printf("response包失败：%x/n",status_reg);
                        #endif
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);   
@@ -611,13 +624,16 @@
         }
         
      //   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
         #ifdef DEBUG_INF
            printf("序号：%d,基站数量：%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
            #endif
//         if(mainbase_lost_count>5)
//         {
//            //tag_state=DISCPOLL;
@@ -816,7 +832,9 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -855,15 +873,41 @@
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
         }else{
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
         waittagconfig_reponse=0;
         if(pwtag.remain_time>0)
            {uint8_t i;
               for(i=0;i<pwtag.groupnum;i++)
               {
                  if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
                  {
                     remotesend_state=1;
                     tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
                     remotetag_paralen = 2+3;
                     remotetag_para[0] = 2;
                     remotetag_para[1] = 6;
                     remotetag_para[2] = 2;
                     memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
                     memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
                     dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
                     dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度		
                     remotesend_state=0;
                     break;
                  }				
               }
					
            }else{
                  dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(22, 0);//设定发送长度
            }
					
//          if(remotesend_state&&tag_id_recv==configremotetagID)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
//            dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度		
//            waittagconfig_reponse=1;
//         }else{

         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         battary = rx_buffer[BATTARY_IDX];
@@ -918,7 +962,7 @@
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<100000)
               if(hex_dist>-1000&&hex_dist<200000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
@@ -943,14 +987,31 @@
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
             #ifdef DEBUG_INF
             printf("序号：%d\r\n",frame_seq_nb2);
             #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
               if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
               {
                  waittagconfig_reponse = 0;
                  remotesend_state = 0;
                  usart_send[2] = 7;//正常模式 
                  usart_send[3] = 5;//数据段长度
                  memcpy(&usart_send[4],&tag_id_recv,2);
                  usart_send[6] = 1;//数据段长度
                  checksum = Checksum_u16(&usart_send[2],5);
                  memcpy(&usart_send[7],&checksum,2);
                  UART_PushFrame(usart_send,9);
               }
         }
         }else{
               //printf("%x/n",status_reg);
             #ifdef DEBUG_INF
               printf("final包失败：%x/n",status_reg);
            #endif
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
@@ -1077,6 +1138,9 @@
            break;      
      }   
   }else{
       #ifdef DEBUG_INF
      printf("poll包失败：%x/n",status_reg);
      #endif
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}