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zhyinch

2021-05-21 e0c70da5ce5b2504d2ac4cce68376d1ab5cdf208

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -840,6 +840,7 @@
   }
   return i;
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -905,11 +906,44 @@
               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];
               if(abs(hex_dist-his_dist[taglist_pos])<1000)
                  {
                     tagdist_list[taglist_pos] = hex_dist;
                        }
                  his_dist[taglist_pos]=hex_dist;							
if(hex_dist>-1000&&hex_dist<200000)
               {
                        g_flag_Taggetdist[taglist_pos]=0;
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;	
                  g_Tagdist[taglist_pos]=hex_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_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);
               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]++;
               }
            }						
            }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -919,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   
@@ -936,7 +970,14 @@
         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)
            {
                memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],16);
                tagpossend_flag = 1;
            }else{
                tagpossend_flag = 0;
            }
    
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -949,7 +990,7 @@
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         waittagconfig_reponse=0;
            finalsend = 0;
         if(pwtag.remain_time>0)
         if(pwtag.remain_time>0)//远程修改标签参数
            {uint8_t i;
               for(i=0;i<pwtag.groupnum;i++)
               {
@@ -974,8 +1015,8 @@
               
            if(finalsend == 0)
                {
                  dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(24, 0);//设定发送长度
                  dwt_writetxdata(24+tagpossend_flag*16, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(24+tagpossend_flag*16, 0);//设定发送长度
            }
               
//          if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1108,7 +1149,7 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
int32_t recnearbaselist_dist[30];
@@ -1145,9 +1186,56 @@
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
         uint16_t checksum;
         case POLL:
            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
         case SPOLL:
            //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
            {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                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);
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;
                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = rec_nearbase_num;
                   
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
               memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
                    
               checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
               memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,19+8*rec_nearbase_num);
            Anchor_RecPoll();
            }
            break;
         case SYNC:         
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
@@ -1211,6 +1299,7 @@
         memcpy(&usart_send[6],&tag_id_recv,2);
         memcpy(&usart_send[8],&rx_buffer[10],9);
         usart_send[17] = firstpath_power;
            memcpy(&usart_send[18],&rx_buffer[19],2);
         checksum = Checksum_u16(&usart_send[2],20);
         memcpy(&usart_send[22],&checksum,2);
         UART_PushFrame(usart_send,24);
@@ -1250,6 +1339,7 @@
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;

                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;