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,
@@ -552,7 +552,7 @@
         {
            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
            tag_state=GETNEARMSG;
            trygetnearmsg_times=5;
            trygetnearmsg_times=10*tag_frequency;
            mindist=temp_dist;
         }
         if(result==0)
@@ -576,7 +576,7 @@
}
   if(getsync_flag==0)
   {
   tagslotpos--;
//   tagslotpos--;
         if(tagslotpos==0||tagslotpos>max_slotpos)
      {      
         tagslotpos=max_slotpos;   
@@ -584,7 +584,7 @@
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
   //mainbase_id = 0x1;
//   mainbase_id = 0x4;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -628,7 +628,7 @@
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}
extern u8 userkey_state;
@@ -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;
//                           }
                        
                  }                        
                     }
@@ -801,61 +801,61 @@
      j=0;
         if(exsistbase_list[0]==0)
         {
//            SetNextPollTime(tagslotpos);
            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(mainbase_lost_count>3)
//         {
//            tag_state = DISCPOLL;
//         }
         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;
         }
//            for (i=0;i<nearbase_num;i++)
//   {
//      if(nearbaseid_list[i]==0)
@@ -881,22 +881,22 @@
//         {
//            nearbase_distlist[i]=0x1ffff;
//         }
//         if(para_update)
//         {
//         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
//            pack_msgtype = rec_remotepara[0];
//            pack_index = rec_remotepara[1];
//            pack_length = rec_remotepara[2];
//            if(pack_msgtype==2)
//            {
//                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
//               //返回一个error状态
//               //SendComMap(pack_datalen,pack_index);
//               save_com_map_to_flash();
//               delay_ms(100);
//               NVIC_SystemReset();
//            }
//         }
         if(para_update)
         {
         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                  memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
               //返回一个error状态
               //SendComMap(pack_datalen,pack_index);
               save_com_map_to_flash();
               delay_ms(100);
               NVIC_SystemReset();
            }
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

@@ -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;
                        }
                     }
@@ -985,9 +986,13 @@
{
   
   //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) 
    {
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
    }
   switch(tag_state)
@@ -1009,13 +1014,11 @@
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      {
         tag_state = DISCPOLL;
         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();