From 57a4e0aab7db7c8420cf425c89acb500add05196 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 17 五月 2021 14:11:24 +0800
Subject: [PATCH] 增加气压校准 PRFPRF模式

---
 Src/application/dw_app.c |   38 ++++++++++++++++++++++----------------
 1 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 167813d..3742b7d 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,7 @@
 #define FINAL_MSG_FINAL_TX_TS_IDX 18
 #define FINAL_MSG_TS_LEN 4
 
-#define STARTPOLL  SINGLEPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
 #define SWITCHBASE_ZHUANDIAN
 enum enumtagstate
 {
@@ -78,7 +78,7 @@
 	GETNEARMSG,
 	NEARPOLL,
     SINGLEPOLL,
-}tag_state=STARTPOLL;
+}tag_state=SINGLEPOLL;
 static dwt_config_t config = {
 	2,               /* Channel number. */
 	DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -95,7 +95,7 @@
 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;
@@ -472,9 +472,9 @@
 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;
@@ -496,17 +496,17 @@
 	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);
+    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+    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 +598,18 @@
 		}
 		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--;
@@ -697,7 +698,10 @@
 	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;	
 	
@@ -934,8 +938,9 @@
 		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 +1050,6 @@
             Poll();
             break;
 	}
+     userkey_state = !GET_USERKEY;
 	dwt_entersleep();
 }

--
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