XRange_Tag.git - Gitblit

			@@ -27,7 +27,7 @@
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
			#define RESP_RX_TIMEOUT_UUS 2000
			#define DELAY_BETWEEN_TWO_FRAME_UUS 400
			#define POLL_RX_TO_RESP_TX_DLY_UUS 2000
			#define POLL_RX_TO_RESP_TX_DLY_UUS 3000
			#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
			#define FINAL_RX_TIMEOUT_UUS 4300

			@@ -52,7 +52,8 @@
			static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
			static uint16_t sync_timer;
			static uint8_t send_buffer[150];
			static uint8_t frame_seq_nb2,battary,button,ancidlist_num;
			static uint8_t battary,button,ancidlist_num;
			uint8_t frame_seq_nb2;
			uint8_t rec_nearbase_num;
			static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
			static int16_t rec_antdelay;
			@@ -81,6 +82,7 @@
			static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
			extern uint16_t g_Resttimer;
			static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
			uint16_t RX_TIMEOUTs_UWB;
			double LOS(dwt_rxdiag_t *dia) {
			F1 = dia->firstPathAmp1;
			F2 = dia->firstPathAmp2;
			@@ -227,24 +229,31 @@
			// dwt_writetxfctrl(38, 0);//设定发送长度
			// result = dwt_starttx(DWT_START_TX_DELAYED);
			//// uwb_timeout = 0;
			// if(result == 0)
			uwb_timeout=lp_time;
			if(result == 0)
			{
			RX_TIMEOUTs_UWB++;
			// uwb_timeout=lp_time;
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS \| SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
			{

			current_time=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_time>end_time/\|\|current_time<end_time+15000/)
			{
			// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
			break;}
			// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
			// if(current_time>end_time+((32768/1000)*3)\|\|current_time<end_time+15000)
			// {
			//// printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
			// break;}
			// if(lp_time-uwb_timeout>2)
			// break;
			};
			dwt_rxenable(0);
			// dwt_rxenable(0);
			}

			}
			uint8_t power_and_key=0;

			uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
			uint16_t Lora_tx_ancid[50];
			uint16_t Lora_tx_ancdist[50];
			uint8_t Lora_tx_ancnum=0;
			uint8_t break_flag ;
			void Anchor_App(void)
			{

			@@ -252,7 +261,7 @@
			u16 tempid;
			uint32_t rec_syncid;
			uint16_t checksum;

			uint8_t kk;

			dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
			dwt_rxenable(0);//打开接收
			@@ -260,7 +269,7 @@


			start_time=HAL_LPTIM_ReadCounter(&hlptim1);
			end_time=start_time+((32768/1000)*20);
			end_time=start_time+((32768/1000)*2);
			if(end_time>=32768)
			{end_time-=32768;}
			current_time=HAL_LPTIM_ReadCounter(&hlptim1);
			@@ -289,7 +298,7 @@
			//将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
			memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);


			// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_SET);
			// printf("ID %x\r\n",tag_id_recv);
			switch(rx_buffer[MESSAGE_TYPE_IDX])
			{uint8_t target_tagi;
			@@ -331,28 +340,45 @@
			{
			if(rec_ancidlist[i] == dev_id)
			{
			// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);

			// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
			for(kk=0;kk<Lora_tx_ancnum;kk++)
			{
			if(Lora_tx_ancid[kk]==tag_id_recv)
			{
			// Lora_tx_ancnum--;
			Lora_tx_ancdist[kk]=rec_ancdistlist[i];
			break_flag=1;
			break;
			}
			}
			// #ifdef USART_ALL_OUTPUT
			usart_send[2] = 0x12;//正常模式
			usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
			memcpy(&usart_send[4],&tag_id_recv,2);
			usart_send[6] = frame_seq_nb2;//包序
			power_and_key=battary<<1;//把按键跟电量2合1，发出去
			power_and_key=power_and_key+button;
			memcpy(usart_send+7,&power_and_key,1);
			if(break_flag)
			{
			break_flag=0;
			break;
			}
			Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
			Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];

			usart_send[8] = rec_nearbase_num;//lora等待应答位
			usart_send[9] = lora_yingda_flag;
			memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
			memcpy(&usart_send[10+rec_nearbase_num2],&rec_ancdistlist,2rec_nearbase_num);
			checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
			memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
			// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
			// #endif
			Lora_tx_ancnum++;

			}
			}
			//// #ifdef USART_ALL_OUTPUT
			// usart_send[2] = 0x12;//正常模式
			// usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
			// memcpy(&usart_send[4],&tag_id_recv,2);
			// usart_send[6] = frame_seq_nb2;//包序
			// power_and_key=battary<<1;//把按键跟电量2合1，发出去
			// power_and_key=power_and_key+button;
			// memcpy(usart_send+7,&power_and_key,1);
			// usart_send[8] = lora_yingda_flag;//lora等待应答位
			// usart_send[9] = rec_nearbase_num;//lora等待应答位
			//// usart_send[9] = lora_yingda_flag;
			// memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
			// memcpy(&usart_send[10+rec_nearbase_num2],&rec_ancdistlist,2rec_nearbase_num);
			// checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
			// memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
			//// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
			//// #endif

			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=TAG_NUM_IN_SYS)