V1.67 测试完成

zhyinch

2022-08-10 ee92c0770f3d386bdd58189f1b395b342f79ec34

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -313,10 +313,11 @@
   }
return max_slotpos-1;
}
u8 test=0,dissucc_flag1,dissucc_flag2,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
u8 test=0,dissucc_times,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count;
u16 usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id,success_ancid;
int32_t rec_extratag_dist;
 void NearPoll(void)
{
@@ -471,10 +472,14 @@
                           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&&lastdist1!=temp_dist&&!dissucc_flag1)//没有成功测距，且距离和上一次不相等
                                if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
                                {
                                    dissucc_flag1 = 1;
                                    lastdist1 = temp_dist;
                                   if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
                                   {
                                        success_ancid = rec_nearbaseid;
                                        dissucc_times++;
                                   
                                   
   
                              g_Resttimer=0;
                              IWDG_Feed();
@@ -510,6 +515,7 @@
                              #endif
                           }
                                }
                                }
                           
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -536,11 +542,13 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                   if(temp_dist!=0x1ffff&&lastdist2!=temp_dist&&!dissucc_flag2)//没有成功测距，且距离和上一次不相等
                   if(temp_dist!=0x1ffff)//没有成功测距，且距离和上一次不相等
                                {
                                    dissucc_flag2 = 1;
                                    lastdist2 = temp_dist;
                                    
                                   if(success_ancid!=rec_nearbaseid&&dissucc_times<2)
                                   {
                                        success_ancid = rec_nearbaseid;
                                        dissucc_times++;
                                   
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -561,7 +569,7 @@
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #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
@@ -588,6 +596,7 @@
                              UART_PushFrame(usart_send,21);
                              #endif
                           }
                                }
                                }
                     }                           
                     }
@@ -701,8 +710,8 @@
        {
            usartoutput_notenough = 0;
        }else{
            sync_timer += time32_incr%5;
            if(usartoutput_notenough++>50)
            sync_timer += time32_incr%2;
            if(usartoutput_notenough++>500)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
@@ -798,7 +807,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS],tagnewdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
   u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -952,18 +961,18 @@
         }else{
            motorstate =0;
         }
//         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
//            {
//                tagdist_list[taglist_pos]=0x1ffff;
//            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
                if(tagnewdist_list[taglist_pos])
                {
                    tagnewdist_list[taglist_pos] = 0;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
                }
         }
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(remotesend_state<<4)|motorstate;
@@ -1073,6 +1082,7 @@
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        }
                        tagnewdist_list[taglist_pos] = 1;
                        tagseq_list[taglist_pos] = frame_seq_nb2;
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式