修改增加注册报文2模式，立即应答注册报文

yincheng.zhong

2023-08-14 45da36f7caa39b25567ca51e56b4d547b1e9109c

 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 SWITCHBASE_DIST
#define STARTPOLL  DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
@@ -119,6 +119,7 @@

void NextSlotDelayMs(int16_t delayms);
void GetNearMsg(void);
void Registor_Poll(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -247,7 +248,7 @@
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
uint8_t trygetnearmsg_times,try_reg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
@@ -609,10 +610,11 @@
}
    if(minddist!=0x1ffff&&minddist!=0)
    {
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;            
                  try_reg_times = 0;
            tag_state = REGPOLL;            
            mainbase_id = mindist_ancid;   
            GetNearMsg();
                  Registor_Poll();			
            //GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -1202,9 +1204,10 @@
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      

      tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
      tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;	
      tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;	
      tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
      tx_near_msg[REGP_POWER_INDEX] = module_power;
      memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);   
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
@@ -1264,7 +1267,11 @@
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           if(tagslotpos!=255)
                                        tag_state = DISCPOLL;
                           {
                              trygetnearmsg_times = 0;
                    tag_state = GETNEARMSG;
                              GetNearMsg();
                           }
                        }
                     }
}
@@ -1333,6 +1340,10 @@
      case REGPOLL:
         LED_LG_ON;      
         Registor_Poll();         
         if(try_reg_times++>5)
         {
            tag_state = STARTPOLL;
         }
         LED_LG_OFF;
//        GetPressAndHeight();
         break;
@@ -1342,11 +1353,11 @@
         LED_LG_OFF;
         break;
      case GETNEARMSG:
         trygetnearmsg_times++;	
			
         LED_LG_ON;
            GetNearMsg();    
      LED_LG_OFF;
      if(trygetnearmsg_times>5)
      if(trygetnearmsg_times++>5)
      {
         tag_state = STARTPOLL;
      }