1.66

zhyinch

2022-08-08 fed6a447e90051027925217fae8c6a5d57054989

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -313,7 +313,7 @@
   }
return max_slotpos-1;
}
u8 test=0;
u8 test=0,dissucc_flag1,dissucc_flag2,lastdist1,lastdist2;
u8 anclost_times=0,usartoutput_count,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;
@@ -422,23 +422,23 @@
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
                           sync_timer=temp_sync_timer1;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
//                           if(g_com_map[DEV_ROLE]!=0)
//                           {
//                           sync_timer=temp_sync_timer1;
//////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
////									
//                           
									
                              tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
                        }
                           current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                              tmp_time=tmp_time+650;
//                           if(tmp_time>999)
//                           {
//                              tmp_time-=999;
//                              sync_timer++;
//                              if(sync_timer>=1000)
//                                 {sync_timer=0;}
//                           }
//                           TIM3->CNT=tmp_time;
//                        }
//                           current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
@@ -471,22 +471,19 @@
                           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)
                                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
                           {
                                    dissucc_flag1 = 1;
                                    lastdist1 = temp_dist;
	
                              g_Resttimer=0;
                              IWDG_Feed();
                              #ifdef USART_SINGLE_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],&temp_dist,4);
                              usart_send[13] = rx_buffer[DIST_IDX+3];
                              usart_send[14] = button;
@@ -495,21 +492,15 @@
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif
                           }
									
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                           {
                           #ifdef USART_SINGLE_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],&rec_extratag_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&rec_extratag_id,2);	
                              }											
                              memcpy(&usart_send[9],&rec_extratag_dist,4);
                              usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                              usart_send[14] = button;
@@ -518,7 +509,7 @@
                              UART_PushFrame(usart_send,21);
                              #endif
                           }
		
                                }
                           
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -545,8 +536,11 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff)
                   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
                           {
                                    dissucc_flag2 = 1;
                                    lastdist2 = temp_dist;
                                    
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -571,7 +565,7 @@
                           //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
                        }
								
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                           {
                           #ifdef USART_SINGLE_OUTPUT
@@ -593,6 +587,7 @@
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              #endif
                           }
                           }
                     }                           
                     }
@@ -706,7 +701,8 @@
        {
            usartoutput_notenough = 0;
        }else{
            if(usartoutput_notenough++>10)
            sync_timer += time32_incr%5;
            if(usartoutput_notenough++>50)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
@@ -791,7 +787,7 @@
         break;
   }

   SetNextPollTime(tyncpoll_time);
//   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;      
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
}
@@ -956,10 +952,10 @@
         }else{
            motorstate =0;
         }
         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
            {
                tagdist_list[taglist_pos]=0x1ffff;
            }
//         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
//            {
//                tagdist_list[taglist_pos]=0x1ffff;
//            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;