From 66b13717fce3890b464d0b43eb61b94ea7cdf56e Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 28 九月 2021 17:09:23 +0800
Subject: [PATCH] V2.30

---
 源码/核心板/Src/application/dw_app.c |   74 ++++++++++++++++++++++++++++++------
 1 files changed, 61 insertions(+), 13 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 6f64230..c34e398 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"
@@ -930,7 +930,7 @@
 					usart_send[18] = tag_slotpos;
 					checksum = Checksum_u16(&usart_send[2],17);
 					memcpy(&usart_send[19],&checksum,2);
-				//	UART_PushFrame(usart_send,21);
+					UART_PushFrame(usart_send,21);
 				#else		
 					memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
 					memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -953,7 +953,7 @@
 extern uint16_t configremotetagID;
 extern u8 remotetag_paralen;
 u8 finalsend=0;
-
+u16 signalpower_list[TAG_NUM_IN_SYS];
 u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
 {
 	
@@ -973,11 +973,10 @@
 			
 			if(new_tagid)
 			{
-				tagdist_list[taglist_pos]=0x1ffff;
-				memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
-			}else{
-				memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+				tagdist_list[taglist_pos]=0x1ffff;	
 			}
+            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
 			tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
 			tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
 			tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -1004,12 +1003,15 @@
 							break;
 						}				
 					}
+                }else{
+                    
                 }
 					
 				if(finalsend == 0)
                 {
-						dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
-						dwt_writetxfctrl(24, 0);//设定发送长度
+                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
+						dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
+						dwt_writetxfctrl(28, 0);//设定发送长度
 				}
 					
 //			 if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -1088,7 +1090,8 @@
 						misdist_num[taglist_pos]=0;
 					tagdist_list[taglist_pos] = hex_dist;	
 					his_dist[taglist_pos]=hex_dist;	
-						g_Tagdist[taglist_pos]=hex_dist;	
+                    g_Tagdist[taglist_pos]=hex_dist;	
+                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
 				#ifndef USART_INTEGRATE_OUTPUT
 					usart_send[2] = 1;//正常模式 
 					usart_send[3] = 17;//数据段长度
@@ -1144,7 +1147,7 @@
 extern u8 flag_syncbase,waitsync_flag;
 u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
 u16 ancidlist_rec[20],ancidlist_send[20];
-u16 recnearbaselist_id[30];
+u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
 int32_t recnearbaselist_dist[30];
 int16_t rec_tagheight;
 void Anchor_App(void)
@@ -1179,6 +1182,39 @@
 		switch(rx_buffer[MESSAGE_TYPE_IDX])
 		{
 			uint16_t checksum;
+            case DISCOVERPOLL:
+                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
+                {
+                taglist_pos=CmpTagInList(tag_id_recv);
+				if(taglist_pos==taglist_num)
+				{
+					taglist_pos=taglist_num;
+					tagid_list[taglist_num++]=tag_id_recv;
+					
+					new_tagid=1;
+				}else{
+					new_tagid=0;
+				}
+				tagofflinetime[taglist_pos]=0;
+                
+                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+                if(rec_nearbase_num>=30)
+                {
+                    break;
+                }
+                battary = rx_buffer[BATTARY_IDX];
+                button = rx_buffer[BUTTON_IDX];
+                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+			tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+			tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+               
+      ////////////////基站汇总模式数据          
+               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
+				Anchor_RecPoll();
+                }
+                break;
 			case SPOLL:
 				//if (anchor_type == rx_buffer[ANC_TYPE_IDX])
             if(dev_id==anc_id_recv)
@@ -1196,6 +1232,10 @@
 				tagofflinetime[taglist_pos]=0;
                 
                 rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+                if(rec_nearbase_num>=30)
+                {
+                    break;
+                }
                 battary = rx_buffer[BATTARY_IDX];
                 button = rx_buffer[BUTTON_IDX];
                 frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
@@ -1316,15 +1356,22 @@
                 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>30)
+                {
+                    break;
+                }
                 battary = rx_buffer[BATTARY_IDX];
                 button = rx_buffer[BUTTON_IDX];
                 frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
 			tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
 			tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
       ////////////////基站汇总模式数据          
-                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],2);
+                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
                 memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                 memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
+                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
+                if(anc_id_recv == dev_id )
+                {
                 usart_send[2] = 0x0c;//正常模式 
 					usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
 					memcpy(&usart_send[4],&tag_id_recv,2);
@@ -1342,11 +1389,12 @@
                     memcpy(&usart_send[17],&anc_id_recv,2);
                     memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
                     memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
-					
+					 memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
+                    
 					checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
 					memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
 					UART_PushFrame(usart_send,27+8*rec_nearbase_num);
-
+                }
     //////////////////////////////////////////////////////////////            
                 
                 

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