XRange_Tag.git - Gitblit

			@@ -29,7 +29,7 @@
			#include <stdio.h>
			#include "beep.h"
			#include "modbus.h"

			#include "CRC.h"
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -120,7 +120,7 @@
			uint16_t current_slotpos = 0;

			uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;

			void GetNearMsg(void);
			static uint64_t get_tx_timestamp_u64(void)
			{
			uint8_t ts_tab[5];
			@@ -615,6 +615,7 @@
			trygetnearmsg_times = 0;
			tag_state = GETNEARMSG;
			mainbase_id = mindist_ancid;
			GetNearMsg();
			}

			if(getsync_flag==0)
			@@ -703,7 +704,8 @@
			last_lpcount = lpcount;
			}
			uint16_t rec_tagperiod;
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;
			int8_t notenoughdist_count=0;
			void GetNearMsg(void)
			{
			u32 start_poll,frame_len;
			@@ -714,6 +716,7 @@
			nearbase_distlist[nearmsg_i] = 0x1ffff;
			}
			//mainbase_id = 0x9818;
			notenoughdist_count = -2;
			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] = POS_MSG;
			@@ -795,11 +798,14 @@
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			uint8_t motor_flag;
			uint16_t rec_ancpos;
			uint8_t dist_noutenough_count;
			uint8_t ancdist_hist[11];
			uint16_t calCRC;
			void NearPoll(void)
			{

			uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
			static u8 notenoughdist_count=0;

			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
			@@ -819,12 +825,7 @@

			recbase_num=0;
			// motor_state=0;
			if(motor_state!=0&&motor_state!=3)
			{
			motor_flag = 1;
			}else{
			motor_flag = 0;
			}


			tx_near_msg[BATTARY_IDX] = bat_percent;
			tx_near_msg[BUTTON_IDX] = userkey_state\|stationary_flag<<1\|gotosleep_flag<<2\|motor_flag<<5;
			@@ -962,8 +963,7 @@
			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;

			if(frame_len==28)
			{
			memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
			@@ -979,9 +979,7 @@
			outrange_times = 0;
			}
			}




			mainbase_lost_count=0;
			flag_finalsend=1;
			memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
			@@ -989,7 +987,7 @@

			flag_getresponse=1;
			//时间同步
			tmp_time=tmp_time+450;
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			tmp_time-=999;
			@@ -1036,6 +1034,7 @@
			mainbase_id = rec_nearbaseid;
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			GetNearMsg();
			}
			#endif

			@@ -1066,9 +1065,10 @@
			changemainbase_count++;
			if(changemainbase_count>tag_frequency*2)
			{
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			mainbase_id = mindist_slavebaseid;
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			GetNearMsg();
			}
			}else{
			changemainbase_count = 0;
			@@ -1092,37 +1092,45 @@
			}

			if(para_update)
			{

			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == MOTOR_ONTIME_INDEX)
			{
			// if(motor_keeptime==0)
			motor_keeptime = rec_remotepara[3];
			}else{
			if(pack_index<200)
			{

			calCRC = CRC_Compute(rec_remotepara,5);
			if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
			{
			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			if( pack_index == MOTOR_ONTIME_INDEX)
			{
			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(motor_keeptime==0)
			motor_keeptime = rec_remotepara[3];
			}else{
			if(pack_index<200)
			{
			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(get_newdist>2)
			if(get_newdist>=2)
			{
			notenoughdist_count = 0;
			}else{
			if(notenoughdist_count++>3)
			{
			notenoughdist_count = 0;
			current_slotpos = start_count%max_slotpos; //如果丢失连接超过5次就随机换个时间片
			tagpoll_sync_sec = current_slotpos/200;
			tagslotpos = current_slotpos%200;
			flag_tagnewpos = 0;
			// tag_state = DISCPOLL;
			}
			}
			@@ -1131,8 +1139,9 @@
			if(nearbaseid_list[i]!=nearbaseid_list2[i])
			{
			tag_state = GETNEARMSG;
			trygetnearmsg_times = 0;
			nearbaseid_list0[i]=1;
			trygetnearmsg_times = 0;
			nearbaseid_list0[i]=1;
			GetNearMsg();
			}
			}
			if(pos_nochange)
			@@ -1144,6 +1153,7 @@
			//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			}

			extern uint8_t module_power,imu_enable,motor_enable;
			void Registor_Poll(void)
			{
			@@ -1217,17 +1227,17 @@
			}
			}
			}
			extern void FZNearPoll(void);
			u32 id,error_times=0;

			u8 ttt = 1;
			extern float Height;
			void Tag_App(void)//发送模式(TAG标签)
			void UWBWkWp(void)
			{
			static uint8_t diccount = 0;
			//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();
			@@ -1240,6 +1250,16 @@
			}
			}
			error_times = 0;
			}
			void Tag_App(void)//发送模式(TAG标签)
			{
			static uint8_t diccount = 0,diccount2;
			//LED0_ON;
			UWBWkWp();
			if(0)
			{
			FZNearPoll();
			}else{
			switch(tag_state)
			{
			case REGPOLL:
			@@ -1283,7 +1303,11 @@
			case SINGLEPOLL:
			// Poll();
			break;
			}
			}}

			FZNearPoll();

			dwt_forcetrxoff();
			userkey_state = !GET_USERKEY;
			dwt_entersleep();
			}