V1.33 上海测试完成

zhyinch

2021-08-25 5dfb6c255ed939aebe5d5a9aa9d5a8343c1a3a44

 Src/application/dw_app.c

@@ -69,8 +69,9 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  SINGLEPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
   REGPOLL,
@@ -95,7 +96,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
 uint8_t tx_near_msg[80] = {0};
 uint8_t tx_near_msg[180] = {0};

static uint32_t frame_seq_nb = 0;   
static uint32_t status_reg = 0;
@@ -246,7 +247,7 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
@@ -472,9 +473,9 @@
u8 motor_state,rec_remotepara_state,rec_remotepara[80];


#define SINGLEPOLL_BASENUM 10
uint16_t singlepoll_baseid[SINGLEPOLL_BASENUM]={0x9733,0x9788,0x9798,0x8159,0x9797,0x9790,0x9799,0x9785,0x8169,0x8276};
int32_t singlepoll_basedist[SINGLEPOLL_BASENUM];
#define SINGLEPOLL_BASENUM 15
uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
int32_t singlepoll_basedist[20];

extern u8 userkey_state;
extern float motor_keeptime;
@@ -493,20 +494,21 @@
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
   frame_seq_nb++;
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
   for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
   {
   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
    nearbase_num = SINGLEPOLL_BASENUM-1;
    nearbase_num = SINGLEPOLL_BASENUM;
        
        tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    intheight+=g_com_map[MAX_REPORT_ANC_NUM];
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;   
   
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   
@@ -598,17 +600,18 @@
      }
      else
      {
             singlepoll_basedist[singlepoll_i] = 0x1ffff;
           //  singlepoll_basedist[singlepoll_i] = 0x1ffff;
         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
      }
   }
   else
   {
        singlepoll_basedist[singlepoll_i] = 0x1ffff;
     //   singlepoll_basedist[singlepoll_i] = 0x1ffff;
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      random_delay_tim = DFT_RAND_DLY_TIM_MS;
   }
}
   
   if(getsync_flag==0)
   {
//   tagslotpos--;
@@ -625,12 +628,17 @@
void GetNearMsg(void)
{
   u32 start_poll,frame_len;

mainbase_id = 0x9724;
    u8 nearmsg_i=0;
    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9724;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
   
    
   dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);   
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -697,7 +705,10 @@
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    intheight+=g_com_map[MAX_REPORT_ANC_NUM];
    
    if(intheight!=0)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   
@@ -785,6 +796,7 @@
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           mainbase_dist=temp_dist;
                                    nearbase_distlist[0] = temp_dist;
                                    base_mindist = temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -824,18 +836,19 @@
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<salvebase_mindist)
                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
                           #ifdef SWITCHBASE_ZHUANDIAN
                           if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
                           {
                              mainbase_id = rec_nearbaseid;
                              tag_state = GETNEARMSG;
                           }
                        #endif
                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                        }
                                    #endif

                  }                        
                     }
                  }else{
@@ -869,7 +882,7 @@
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>10*tag_frequency)
         }else if(mainbase_lost_count>5*tag_frequency)
         {
            tag_state = STARTPOLL;
         }         
@@ -901,10 +914,10 @@
         }
         for(i=0;i<nearbase_num;i++)
         {
         if(nearbaseid_list[i]!=nearbaseid_list2[i])
         {
            tag_state = GETNEARMSG;
         }
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                }
         }
   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);
@@ -934,8 +947,9 @@
      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);
      dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
      dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
      dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
   { 
@@ -1045,5 +1059,6 @@
            Poll();
            break;
   }
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
}