Merge branch '定位-临近' of http://47.108.70.204:60062/r/XRange_Tag into 定位-临近

yincheng.zhong

2023-11-29 30473596c542f4e475b6654bedf63a4cd4e44214

 Src/application/dw_app.c

@@ -72,6 +72,7 @@
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
void GetNearMsg(void);
enum enumtagstate
{
   REGPOLL,
@@ -222,7 +223,7 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 usart_send[125];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -368,7 +369,9 @@
            tmp_time-=999;
            sync_timer++;
            if(sync_timer>=1010)
               {sync_timer=0;}
                        {
                            sync_timer=0;
                        }
         }
      //   TIM3->CNT=tmp_time;
      }
@@ -555,7 +558,9 @@
                    tmp_time-=999;
                    sync_timer++;
                    if(sync_timer>=1010)
                        {sync_timer=0;}
                        {
                            sync_timer=0;
                        }
                }

                //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
@@ -613,6 +618,7 @@
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            mainbase_id = mindist_ancid;   
        GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -769,32 +775,32 @@
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}
void SendHuiZongData(void)
{
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
               memcpy(&usart_send[4],&dev_id,2);
                    usart_send[6] = frame_seq_nb;
                    usart_send[7] = frame_seq_nb>>8;
               usart_send[8] = bat_percent;
                    usart_send[9] = tx_near_msg[BUTTON_IDX];
//void SendHuiZongData(void)
//{
//    usart_send[2] = 0x0c;//正常模式
//    usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
//    memcpy(&usart_send[4],&dev_id,2);
//    usart_send[6] = frame_seq_nb;
//    usart_send[7] = frame_seq_nb>>8;
//    usart_send[8] = bat_percent;
//    usart_send[9] = tx_near_msg[BUTTON_IDX];

                    memcpy(&usart_send[10],&intheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tagslotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = nearbase_num+1;
                    memcpy(&usart_send[17],&mainbase_id,2);
                    memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
                    memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
                memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
//    memcpy(&usart_send[10],&intheight,2);
//    usart_send[12] = tag_frequency;
//    usart_send[13] = tagslotpos;
//    usart_send[14] = 0;
//    usart_send[15] = 0;
//    usart_send[16] = nearbase_num+1;
//    memcpy(&usart_send[17],&mainbase_id,2);
//    memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
//    memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
//    memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
                    
               checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
               memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
               USART_puts(usart_send,27+8*nearbase_num);
               //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
//    checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
//    memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
//    USART_puts(usart_send,27+8*nearbase_num);
//    //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
//}
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
void NearPoll(void)
@@ -816,7 +822,9 @@
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   if(nearbase_num>10)
   {nearbase_num = 10;}
    {
        nearbase_num = 10;
    }
//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

   recbase_num=0;
@@ -877,7 +885,9 @@
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
    {
        end_count-=32768;
    }
   mainbase_dist=100000;
   mainbase_lost_count++;
   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -975,13 +985,16 @@
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                        {
                            sync_timer=0;
                        }
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);   
                           SetLPTimer(ancsync_time);
                           if(result==0)
                                 {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
                                 { };}			
                        { };
                    }
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);                                 
                              break;
                        }else{
@@ -1009,6 +1022,7 @@
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                 trygetnearmsg_times = 0;
                        GetNearMsg();
                                        }
                                    #endif

@@ -1018,7 +1032,9 @@
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(recbase_num!=nearbase_num+1)
                     {dwt_rxenable(0);   }
            {
                dwt_rxenable(0);
            }
                     //                  if(flag_rxon)
//                     {
                  //      dwt_rxenable(0);   
@@ -1027,7 +1043,9 @@
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
            if(flag_finalsend!=1)
            {flag_finalsend = 2;}
    {
        flag_finalsend = 2;
    }
         dwt_forcetrxoff();
         dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
@@ -1037,17 +1055,18 @@
            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
            {
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
            if(changemainbase_count>=3)
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
    } else if(mainbase_lost_count>3*tag_frequency)
         {
            tag_state = DISCPOLL;
         }   
@@ -1181,7 +1200,9 @@
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                {
                    sync_timer=0;
                }
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);                                                         
                           SetLPTimer(ancsync_time);
@@ -1258,6 +1279,7 @@
          //  Poll();
            break;
   }
    FZNearPoll();
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
}