Merge branch '调试' into 定位-临近

zhyinch

2020-12-18 003aff1766ffd3ccfe9df6096ef137340ebfeabf

 Src/application/dw_app.c

@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL
#define STARTPOLL  DISCPOLL
enum enumtagstate
{
   REGPOLL,
@@ -584,7 +584,7 @@
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
//   mainbase_id = 0x9804;
//   mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -777,11 +777,11 @@
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;                        
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
                           {
                              mainbase_id = rec_nearbaseid;
                              tag_state = GETNEARMSG;
                           }
//                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
//                           {
//                              mainbase_id = rec_nearbaseid;
//                              tag_state = GETNEARMSG;
//                           }
                        
                  }                        
                     }
@@ -799,59 +799,59 @@
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
      j=0;
//         if(exsistbase_list[0]==0)
//         {
//            SetNextPollTime(tagslotpos);
//         }
         if(exsistbase_list[0]==0)
         {
            SetNextPollTime(tagslotpos);
         }
      //   tyncpoll_time=0;
//         next_nearbase_num=0;
//         for(i=0;i<nearbase_num;i++)
//         {
//            if(exsistbase_list[i]>0)
//            {		
//               next_nearbase_num++;
//               true_exsistbase_list[j]=exsistbase_list[i];
//               true_nearbase_idlist[j]=nearbaseid_list[i];			
//               true_nearbase_distlist[j++]=nearbase_distlist[i];
//               exsistbase_list[i]--;
//            }
//         }
         next_nearbase_num=0;
         for(i=0;i<nearbase_num;i++)
         {
            if(exsistbase_list[i]>0)
            {		
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];			
               true_nearbase_distlist[j++]=nearbase_distlist[i];
               exsistbase_list[i]--;
            }
         }

//         if(recbase_num<3)
//         {next_nearbase_num=next_nearbase_num;}
//               last_nearbase_num = next_nearbase_num;
//         for(i=0;i<last_nearbase_num-1;i++)
//         {
//            for(j=0;j<last_nearbase_num-1;j++)
//            {
//               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
//               {
//                  u32 temp_dist,temp_id,temp_exsis;
//                  temp_dist=true_nearbase_distlist[j];
//                  temp_id = true_nearbase_idlist[j];
//                  temp_exsis=true_exsistbase_list[i];
//                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
//                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
//                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
//						
//                  true_nearbase_distlist[j+1]=temp_dist;
//                  true_nearbase_idlist[j+1]=temp_id;
//                  true_exsistbase_list[j+1]=temp_exsis;
//               }			
//            }
//         }
         if(recbase_num<3)
         {next_nearbase_num=next_nearbase_num;}
               last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
            {
               if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
               {
                  u32 temp_dist,temp_id,temp_exsis;
                  temp_dist=true_nearbase_distlist[j];
                  temp_id = true_nearbase_idlist[j];
                  temp_exsis=true_exsistbase_list[i];
                  true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
                  true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
                  true_exsistbase_list[j]=true_exsistbase_list[j+1];
						
                  true_nearbase_distlist[j+1]=temp_dist;
                  true_nearbase_idlist[j+1]=temp_id;
                  true_exsistbase_list[j+1]=temp_exsis;
               }			
            }
         }

//         if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
//         {
//            changemainbase_count++;		
//         }else{
//            changemainbase_count = 0;
//         }
//         if(changemainbase_count>3)
//         {
//            mainbase_id = true_nearbase_idlist[0];
//            tag_state = GETNEARMSG;
//         }
         if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
         {
            changemainbase_count++;		
         }else{
            changemainbase_count = 0;
         }
         if(changemainbase_count>2*tag_frequency)
         {
            mainbase_id = true_nearbase_idlist[0];
            tag_state = GETNEARMSG;
         }
         if(mainbase_lost_count>10*tag_frequency)
         {
            tag_state = STARTPOLL;
@@ -976,6 +976,7 @@
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           if(tagslotpos!=255)
                           tag_state = NEARPOLL;
                        }
                     }
@@ -985,6 +986,9 @@
{
   
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
@@ -1013,10 +1017,8 @@
         tag_state = STARTPOLL;
      }
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
      case NEARPOLL:	
         NearPoll();
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
   dwt_entersleep();