From 66596268c0f602ecc7ccbb34ea2b649108179eea Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 08 六月 2020 08:50:29 +0800
Subject: [PATCH] V1.15

---
 源码/核心板/Src/application/dw_app.c |  262 ++++++++++++++++++++++++++++++---------------------
 1 files changed, 154 insertions(+), 108 deletions(-)

diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index e5cbeb5..c3f95e8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -5,7 +5,7 @@
 	DISCPOLL,
 	GETNEARMSG,
 	NEARPOLL,
-}tag_state;
+}tag_state=GETNEARMSG;
 static dwt_config_t config = {
 	2,               /* Channel number. */
 	DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -25,6 +25,8 @@
 static uint8_t tx_nearpoll_msg[80] = {0};
 static uint8_t tx_nearresp_msg[80] = {0};
 static uint8_t tx_nearfinal_msg[80] = {0};
+
+static uint8_t tx_near_msg[80] = {0};
 
 static uint32_t frame_seq_nb = 0;	
 static uint32_t status_reg = 0;
@@ -219,40 +221,61 @@
 }
 u8 recbase_num=0;
 #define CHANGE_BASE_THRESHOLD  5
-void NearAncSelect(void)
-{static u16 last_mainbase_id,change_base_count;
-	int32_t nearbase_mindist=99999, nearbase_minpos;
+//void NearAncSelect(void)
+//{static u16 last_mainbase_id,change_base_count;
+//	int32_t nearbase_mindist=99999, nearbase_minpos;
+//	u8 i;
+//	for(i=0;i<recbase_num-1;i++)
+//	{
+//		if(nearbase_mindist>nearbase_distlist[i])
+//		{
+//			nearbase_mindist=nearbase_distlist[i];
+//			nearbase_minpos=i;
+//		}
+//	}
+//	if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+//	{
+//		if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+//		{
+//			change_base_count++;
+//			if(change_base_count>CHANGE_BASE_THRESHOLD)
+//			{
+//				mainbase_id=last_mainbase_id;
+//				tag_state=GETNEARMSG;
+//			}
+//		}else{
+//			change_base_count=0;
+//		}
+//		last_mainbase_id=nearbaseid_list[nearbase_minpos];		
+//	}else{
+//		change_base_count=0;
+//	}
+//}
+u8 GetRandomSlotPos(uint32_t emptyslot)
+{
 	u8 i;
-	for(i=0;i<recbase_num-1;i++)
+	for(i=dev_id%32;i<max_slotpos;i++)
 	{
-		if(nearbase_mindist>nearbase_distlist[i])
+		if(((emptyslot>>i)&0x1)==0)
 		{
-			nearbase_mindist=nearbase_distlist[i];
-			nearbase_minpos=i;
+			return i;
 		}
 	}
-	if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+	
+		for(i=1;i<max_slotpos;i++)
 	{
-		if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+		if(((emptyslot>>i)&0x1)==0)
 		{
-			change_base_count++;
-			if(change_base_count>CHANGE_BASE_THRESHOLD)
-			{
-				mainbase_id=last_mainbase_id;
-				tag_state=GETNEARMSG;
-			}
-		}else{
-			change_base_count=0;
+			return i;
 		}
-		last_mainbase_id=nearbaseid_list[nearbase_minpos];		
-	}else{
-		change_base_count=0;
 	}
+return max_slotpos-1;
 }
 u8 test=0;
 u8 anclost_times=0;
 u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
 u16 temp_sync_timer1,temp_sync_timer2;
+u32 rec_tagpos_binary;
 void NearPoll(void)
 {
 	static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -381,6 +404,9 @@
 									tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
 									dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
 									dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+									memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+									tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+									
 									if(temp_dist!=0x1ffff)
 									{
 									#ifndef USART_INTEGRATE_OUTPUT
@@ -458,22 +484,21 @@
 			j=0;
 			if(exsistbase_list[0]==0)
 			{
-			 u8 temp_adc,random_value;
-				random_value=0;
-				for(i=0;i<8;i++)
-				{
-					temp_adc=Get_ADC_Value();
-					random_value=random_value|((temp_adc&0x01)<<i);
-				}
-				tyncpoll_time=(random_value%max_slotpos)*slottime;	
+//			 u8 temp_adc,random_value;
+//				random_value=0;
+//				for(i=0;i<8;i++)
+//				{
+//					temp_adc=Get_ADC_Value();
+//					random_value=random_value|((temp_adc&0x01)<<i);
+//				}
+				tyncpoll_time = (tagslotpos%max_slotpos)*slottime;	
 			}
 		//	tyncpoll_time=0;
 			next_nearbase_num=0;
 			for(i=0;i<last_nearbase_num+get_newbase;i++)
 			{
 				if(exsistbase_list[i]>0)
-				{
-				
+				{		
 					next_nearbase_num++;
 					true_exsistbase_list[j]=exsistbase_list[i];
 					true_nearbase_idlist[j]=nearbaseid_list[i];			
@@ -551,51 +576,69 @@
 
 
 }
-
-//void GetNearMsg(void)
-//{
-//	u32 start_poll,frame_len;
-//	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
-//	dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
-//	dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
-//	start_poll = time32_incr;
-//	/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
-//	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
-//	{ if(time32_incr - start_poll>20)
-//		NVIC_SystemReset();
-//	};
-//	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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
-//		{
-//			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
-//			tagslotpos=rx_buffer[TAGSLOTPOS];
-//			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
-//			slottime=ceil((nearbase_num+2)*0.3)+1;
-//			tyncpoll_time=tagslotpos*slottime;
-//			tag_state=NEARPOLL;
-//		}
-//	}
-//}
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
+void GetNearMsg(void)
+{
+	u32 start_poll,frame_len;
+	if(nearmsg_mainbase)
+	{nearmsg_mainbase=0;
+	}else{
+	nearmsg_mainbase=1;
+	}
+	memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,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
+	dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
+	dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+	start_poll = time32_incr;
+	/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
+	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
+	{ if(time32_incr - start_poll>20)
+		NVIC_SystemReset();
+	};
+	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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+		{
+			next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+			//tagslotpos=rx_buffer[TAGSLOTPOS];
+			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
+			tyncpoll_time=tagslotpos*slottime;
+			tag_state=NEARPOLL;
+		}
+	}
+}
 
 void Tag_App(void)//发送模式(TAG标签)
 {
 	//LED0_ON;
 	g_Resttimer=0;
-	NearPoll();
+	switch(tag_state)
+	{
+		case DISCPOLL:
+			
+			break;
+		case GETNEARMSG:
+			  GetNearMsg();
+			break;
+		case NEARPOLL:
+				NearPoll();
+			break;
+	}
+
 }
 
 int8_t correction_time,new_tagid=0;
@@ -702,7 +745,7 @@
 				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
 			}
 }
-u8 misdist_num,seize_anchor;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
 u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
 {
 			tmp_time=TIM3->CNT;
@@ -785,9 +828,9 @@
 					g_flag_Taggetdist[taglist_pos]=0;
 					if(hex_dist>-1000&&hex_dist<100000)
 					{
-					if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
+					if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
 					{
-						misdist_num=0;
+						misdist_num[taglist_pos]=0;
 					tagdist_list[taglist_pos] = hex_dist;	
 					his_dist[taglist_pos]=hex_dist;	
 				#ifndef USART_INTEGRATE_OUTPUT
@@ -809,19 +852,20 @@
 				#endif
 					}else{
 					//	printf("%d",hex_dist);
-						misdist_num++;
+						misdist_num[taglist_pos]++;
 					}
 				}
 			}
-		
 			}else{
 					//printf("%x/n",status_reg);
 				dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
 			}
-	
 }
 uint32_t current_syncid=0xffffffff,synclost_timer;
 extern u8 flag_syncbase;
+extern uint32_t tagpos_binary;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+u16 ancidlist_rec[20],ancidlist_send[20];
 void Anchor_App(void)
 {
 	
@@ -841,20 +885,20 @@
 
 	if (status_reg & SYS_STATUS_RXFCG)//成功接收
 	{ u16 tag_recv_interval;
-
+		float temp_tagpos;
 		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
 		frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
 		dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+		memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
 		//将收到的tag_id分别写入各次通讯的包中,为多标签通讯服务,防止一次通讯中接收到不同ID标签的数据
-		//tag_id_recv = rx_buffer[TAG_ID_IDX];
+		tag_id_recv = rx_buffer[TAG_ID_IDX];
 		switch(rx_buffer[MESSAGE_TYPE_IDX])
 		{
 //			case POLL:
 //				if (anchor_type == rx_buffer[ANC_TYPE_IDX])
 //				Anchor_RecPoll();
 //				break;
-			case SYNC:
-				
+			case SYNC:			
 				memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
 				if(rec_syncid<current_syncid)
 				{
@@ -879,25 +923,24 @@
 				
 				}
 				break;
-//			case NEAR_MSG:
-//				if(anc_id_recv==dev_id)
-//				{
-//					rx_buffer[TAGSLOTPOS]=taglist_pos;
-//					tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
-//					memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
-//					tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
-//					memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
-//					send_len=11+g_com_map[NEARBASE_NUM]*2+2;
-//					dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000,将在开启发送时传出去
-//					dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
-//					dwt_starttx(DWT_START_TX_IMMEDIATE);
-//				}
-//				break;
-//		
-			case NEAR_POLL:
-				
+			case NEAR_MSG:
+				if(anc_id_recv==flag_syncbase)
+				{
+					rx_buffer[TAGSLOTPOS]=taglist_pos;
+					tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+					memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+					memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
+					tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num;
+					memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2);
+					send_len=11+ancidlist_num*2+2;
+					dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000,将在开启发送时传出去
+					dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+					dwt_starttx(DWT_START_TX_IMMEDIATE);
+				}
+				break;
+		
+			case NEAR_POLL:			
 				memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
-				memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
 				taglist_pos=CmpTagInList(tag_id_recv);
 				if(taglist_pos==taglist_num)
 				{
@@ -909,10 +952,16 @@
 					new_tagid=0;
 				}
 				tagofflinetime[taglist_pos]=0;
-		
-				
+		    temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+				tagpos_rec[(u8)temp_tagpos]=1;
 				rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
 			
+				if(rec_nearbase_num>ancidlist_num)
+					{
+						ancidlist_num=rec_nearbase_num;
+						memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+					}
+					
 				for(i=0;i<rec_nearbase_num;i++)
 				{
 					 memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -928,14 +977,11 @@
 						seize_anchor=1;   //抢占anchor
 						Anchor_RecNearPoll(i);	
 					}
+
 				
-				break;
-		
-		}
-		
-	}
-	else
-	{
+				break;		
+		}	
+	}else{
 		dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
 	}
 }

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