XRange_Tag.git - Gitblit

			@@ -462,10 +462,10 @@
			u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
			u8 flag_finalsend,flag_getresponse,flag_rxon;
			uint16_t current_count,start_count,end_count,lastsync_timer;

			extern u16 bigslot_num;
			u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
			u32 rec_tagpos_binary;
			int16_t offset=2700;
			int16_t offset=4700;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			void Poll(void)
			{
			@@ -535,9 +535,14 @@
			tag_succ_times++;
			LED0_BLINK;

			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			SetNextPollTime(tyncpoll_time);
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);

			if(temp_dist<mindist&&temp_dist!=0)
			{
			@@ -575,7 +580,7 @@
			tyncpoll_time=(tagslotpos-1)*slottime;
			}
			mainbase_id=minid;
			//mainbase_id = 2;
			//mainbase_id = 0x2;
			}
			u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
			void GetNearMsg(void)
			@@ -622,19 +627,20 @@
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}
			uint8_t changemainbase_count=0;
			uint8_t changemainbase_count=0,gotosleep_flag;
			uint32_t frame_len;
			void NearPoll(void)
			{

			uint32_t temp1,temp2,dw_systime;
			uint32_t frame_len;

			uint32_t final_tx_time;
			u32 start_poll;
			u8 i,j,getsync_flag=0,timeout;
			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);
			tag_succ_times = 0;
			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);

			if(next_nearbase_num>=MAX_NEARBASE_NUM)
			{
			next_nearbase_num = MAX_NEARBASE_NUM-1;
			@@ -645,7 +651,7 @@
			motor_state=0;

			tx_near_msg[BATTARY_IDX] = bat_percent;
			tx_near_msg[BUTTON_IDX] = !GET_USERKEY\|stationary_flag<<1;
			tx_near_msg[BUTTON_IDX] = !GET_USERKEY\|stationary_flag<<1\|gotosleep_flag<<2;
			tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
			tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
			memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
			@@ -741,7 +747,7 @@
			//时间同步
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			@@ -899,6 +905,70 @@
			HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			}
			extern uint8_t module_power;
			uint16_t tag_slotpos;
			void Registor_Poll(void)
			{
			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);

			tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
			tx_near_msg[REGP_FREQUENCY_INDEX] = tag_frequency;
			tx_near_msg[REGP_POWER_INDEX] = module_power;
			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(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(13+2*nearbase_num, 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
			{
			IdleTask();

			};
			if(status_reg==0xffffffff)
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
			{ u16 rec_nearbaseid,rec_nearbasepos;

			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
			bigslot_num = TOTAL_SLOTNUM/tag_frequency;
			tag_slotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
			//////////////////////////////////时间同步
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
			tmp_time=tmp_time+450;
			if(tmp_time>999)
			{
			tmp_time-=999;
			sync_timer++;
			if(sync_timer>=1010)
			{sync_timer=0;}
			}
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);

			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			}
			}
			}
			u32 id;
			void Tag_App(void)//发送模式(TAG标签)
			{
			@@ -912,7 +982,8 @@
			switch(tag_state)
			{
			case DISCPOLL:
			LED_LG_ON;
			LED_LG_ON;
			//Registor_Poll();
			Poll();
			LED_LG_OFF;
			break;