配临近算法初步完成，未测试

zhyinch

2019-12-04 e129a69147731a8ff302413e009b792afee5fb2c

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -310,8 +310,40 @@
         return i;
   }
}
#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++)
   {
      if(nearbase_mindist<nearbase_distlist[i])
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
      }
   }
   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
   {
      if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
      {
         change_base_count++;
         if(change_base_count>CHANGE_BASE_THRESHOLD)
         {
            mainbase_id=last_mainbase_id;
            tag_state=GETNEARMSG;
         }
      }else{
         change_base_count=0;
      }
      last_mainbase_id=nearbaseid_list[nearbase_minpos];		
   }else{
      change_base_count=0;
   }
}
void NearPoll(void)
{
   static u8 mainbase_lost_count=0;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
@@ -332,7 +364,9 @@

   neartimout_timer=0;
   recbase_num=0;
   timeout=nearbase_num/4+2;
   timeout=nearbase_num/4+12;
   mainbase_dist=100000;
   mainbase_lost_count++;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
         {
               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
@@ -349,7 +383,7 @@
                     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+100);//设定接收超时时间，0位没有超时时间
                     dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+120);//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;
@@ -359,7 +393,7 @@
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        if(rec_nearbaseid==mainbase_id)
                        {
                           //时间同步
                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
@@ -376,8 +410,9 @@
                              tagslotpos=tagslotpos%(max_slotpos+1);
                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           mainbase_lost_count=0;
                           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) * UUS_TO_DWT_TIME)) >> 8;
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+130) * 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
@@ -393,12 +428,19 @@
                           memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                           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;
                           //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_forcetrxoff();
         if(mainbase_lost_count>5)
         {
            tag_state=DISCPOLL;
         }
         NearAncSelect();
//            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
//         { };         
@@ -406,28 +448,11 @@
//   }
//   else
//   {
//   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//   }

}
void NearAncSelect(void)
{
   int32_t nearbase_mindist=99999, nearbase_minpos;
   u8 i;
   for(i=0;i<nearbase_num;i++)
   {
      if(nearbase_mindist<nearbase_distlist[i])
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
      }
   }
   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
   {
      mainbase_id=nearbaseid_list[nearbase_minpos];
      tag_state=GETNEARMSG;
   }
}

void GetNearMsg(void)
{
   u32 start_poll,frame_len;
@@ -595,7 +620,7 @@
         memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);

         memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

         resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。