0

zhyinch

2021-12-10 7a67526ee4c5c0664e2b8b9a56e86a82eb9b238a

 Src/application/dw_app.c

@@ -70,7 +70,7 @@
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
@@ -494,6 +494,7 @@
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
   frame_seq_nb++;
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
   for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
   {
   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -506,7 +507,7 @@
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;   
   
@@ -627,12 +628,17 @@
void GetNearMsg(void)
{
   u32 start_poll,frame_len;

    u8 nearmsg_i=0;
    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9724;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
   
    
   dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);   
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -830,14 +836,14 @@
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<salvebase_mindist)
                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
                           #ifdef SWITCHBASE_ZHUANDIAN
                                        if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
                                        {
                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                        }
@@ -876,7 +882,7 @@
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>10*tag_frequency)
         }else if(mainbase_lost_count>5*tag_frequency)
         {
            tag_state = STARTPOLL;
         }         
@@ -1007,7 +1013,7 @@
   
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   delay_us(2700);
    GetPressAndHeight();
    intheight = Height*100;
   SPIx_CS_GPIO->BSRR = SPIx_CS;
@@ -1015,6 +1021,7 @@
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
        delay_us(700);
         id =  dwt_readdevid() ;
        IdleTask();   
        if(error_times++>20)