From aceee9b89a9a012321ef68357e7ddd94684b14b3 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 16 八月 2023 11:11:17 +0800
Subject: [PATCH] 文件重新排版
---
Src/application/dw_ds_anc.c | 592 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 296 insertions(+), 296 deletions(-)
diff --git a/Src/application/dw_ds_anc.c b/Src/application/dw_ds_anc.c
index 36dc486..6367363 100644
--- a/Src/application/dw_ds_anc.c
+++ b/Src/application/dw_ds_anc.c
@@ -58,18 +58,18 @@
extern uint16_t g_Resttimer;
int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
double LOS(dwt_rxdiag_t *dia) {
- F1 = dia->firstPathAmp1;
- F2 = dia->firstPathAmp2;
- F3 = dia->firstPathAmp3;
- N = dia->rxPreamCount;
- C = dia->maxGrowthCIR;
-
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
rx_power=10*log10(C*B/(N*N))-A;
- // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
- }
+}
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
if(GPIO_Pin==GPIO_PIN_8)
@@ -126,53 +126,53 @@
}
void TagListUpdate(void)
{
- uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
- for(i=0;i<taglist_num;i++)
- {
- if(tagofflinetime[i]++<5)
- {
- tagid_list[j]=tagid_list[i];
- tagofflinetime[j++]=tagofflinetime[i];
- }
- }
- taglist_num=j;
+ uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
+ for(i=0; i<taglist_num; i++)
+ {
+ if(tagofflinetime[i]++<5)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ taglist_num=j;
}
uint16_t CmpTagInList(uint16_t tagid)
-{uint16_t i;
- for(i=0;i<taglist_num;i++)
- {
- if(memcmp(&tagid,&tagid_list[i],2)==0)
- break;
- }
- return i;
+{ uint16_t i;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ break;
+ }
+ return i;
}
uint8_t uwb_rec_userdata[16];
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
- uint8_t motorstate;
-
-
- memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
+ uint8_t motorstate;
-
- memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
- poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
- resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
- dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- if(new_tagid)
- {
- tagdist_list[taglist_pos]=0x1ffff;
- memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
- }else{
- memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
- }
- motorstate =0;
+ memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
+
+
+ memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
+ poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
+
+ resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
+ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ } else {
+ memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }
+ motorstate =0;
// if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
// {
-// motorstate =0;
+// motorstate =0;
// }
// else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
// {
@@ -189,289 +189,289 @@
// motorstate =0;
// }
// }
- send_buffer[GROUP_ID_IDX] = group_id;
- //send_buffer[MAINBASE_INDEX]=flag_syncbase;
- send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
- send_buffer[MOTORSTATE_INDEX]&=0x0f;
+ send_buffer[GROUP_ID_IDX] = group_id;
+ //send_buffer[MAINBASE_INDEX]=flag_syncbase;
+ send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ send_buffer[MOTORSTATE_INDEX]&=0x0f;
// if(remotesend_state)
// {
// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
-// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
// }else{
- dwt_writetxdata(24, send_buffer, 0);//写入发送数据
- dwt_writetxfctrl(24, 0);//设定发送长度
- // }
- result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+ dwt_writetxdata(24, send_buffer, 0);//写入发送数据
+ dwt_writetxfctrl(24, 0);//设定发送长度
+ // }
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
-
- if(result==0)
- {
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
- { };
- }else{
- if(g_com_map[MODBUS_ID1]==1)
- {
- #ifdef DBGMSG_OUTPUT
- dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
- SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
- }
- result++;
- }
- if(!(status_reg& SYS_STATUS_RXFCG))
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- dwt_rxenable(0);
+
+ if(result==0)
+ {
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
- { };
+ { };
+ } else {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+#ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+#endif
}
-
- if (status_reg & SYS_STATUS_RXFCG)//接收成功
- {
-
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
- {
- if(g_com_map[MODBUS_ID1]==1)
- {
- #ifdef DBGMSG_OUTPUT
+ result++;
+ }
+ if(!(status_reg& SYS_STATUS_RXFCG))
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_rxenable(0);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
+ { };
+ }
+
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
+ {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+#ifdef DBGMSG_OUTPUT
dbgmsg_len = sprintf(dbgmsg,"%s errormsg:%x",__debug_info__,rx_buffer[MESSAGE_TYPE_IDX]);
SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
- }
- return 1;
- }
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
- {
-
-
- resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
- final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
- final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
- final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
- final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
-
- // testtime[0] = time32_incr*1000+TIM3->CNT;
- poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32_t)resp_tx_ts;
- final_rx_ts_32 = (uint32_t)final_rx_ts;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
- tof = tof_dtu * DWT_TIME_UNITS;
- distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
-#ifdef DW3000
- dist_no_bias = distance;
-#else
- dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
#endif
- dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
- dwt_readdiagnostics(&d1);
- LOS(&d1);
- /*--------------------------以下为非测距逻辑------------------------*/
- //dist_cm=33000;
- // LED0_BLINK; //每成功一次通讯则闪烁一次
-// UWBLED_BLINK;
- dis_after_filter=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+ }
+ return 1;
+ }
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
+ {
- if(recpoll_len==rec_nearbase_num*4+15)
- {
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
- }
-
- g_flag_Taggetdist[taglist_pos]=0;
-
- if(hex_dist>-100000&&hex_dist<2000000)
- {
- if(abs(hex_dist-his_dist[taglist_pos])<10000)
- {
- flag_tag_distsmooth[taglist_pos] =1;
- }else{
- flag_tag_distsmooth[taglist_pos] =0;
- }
- if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
- {
- uint16_t checksum;
- g_Resttimer=0;
- // IWDG_Feed();
- #ifdef TDFILTER
- NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist = pos_predict[taglist_pos]/10;
- filter_speed = vel_predict[taglist_pos]/10;
- newmeasure = 1;
- #else
- filter_dist=hex_dist/10;
- #endif
- misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
- his_dist[taglist_pos]=hex_dist;
- if(hex_dist>0)
- {
- g_Tagdist[taglist_pos]=hex_dist/10;
- }else{
- g_Tagdist[taglist_pos]= 0x2ffff;
- }
+
+ resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
+ final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+
+ // testtime[0] = time32_incr*1000+TIM3->CNT;
+ poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32_t)resp_tx_ts;
+ final_rx_ts_32 = (uint32_t)final_rx_ts;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ tof = tof_dtu * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
+#ifdef DW3000
+ dist_no_bias = distance;
+#else
+ dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
+#endif
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ /*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+ // LED0_BLINK; //每成功一次通讯则闪烁一次
+// UWBLED_BLINK;
+ dis_after_filter=dist_cm;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+
+ if(recpoll_len==rec_nearbase_num*4+15)
+ {
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
+ }
+
+ g_flag_Taggetdist[taglist_pos]=0;
+
+ if(hex_dist>-100000&&hex_dist<2000000)
+ {
+ if(abs(hex_dist-his_dist[taglist_pos])<10000)
+ {
+ flag_tag_distsmooth[taglist_pos] =1;
+ } else {
+ flag_tag_distsmooth[taglist_pos] =0;
+ }
+ if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
+ {
+ uint16_t checksum;
+ g_Resttimer=0;
+ // IWDG_Feed();
+#ifdef TDFILTER
+ NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
+#else
+ filter_dist=hex_dist/10;
+#endif
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = filter_dist;
+ his_dist[taglist_pos]=hex_dist;
+ if(hex_dist>0)
+ {
+ g_Tagdist[taglist_pos]=hex_dist/10;
+ } else {
+ g_Tagdist[taglist_pos]= 0x2ffff;
+ }
usart_send[0]=0x55;
- usart_send[1]=0xAA;
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17+14;//数据段长度
- usart_send[4] = frame_seq_nb2;//数据段长度
- memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
+ usart_send[1]=0xAA;
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17+14;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
if(tagdist_list[taglist_pos]<=0)
tagdist_list[taglist_pos]=0x2ffff;
- memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- usart_send[15] = firstpath_power;
- usart_send[16] = rx_power;
- memcpy(&usart_send[17],&uwb_rec_userdata,16);
- checksum = Checksum_u16(&usart_send[2],31);
- memcpy(&usart_send[33],&checksum,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
+ memcpy(&usart_send[17],&uwb_rec_userdata,16);
+ checksum = Checksum_u16(&usart_send[2],31);
+ memcpy(&usart_send[33],&checksum,2);
USART_puts(usart_send,35);
- }else{
- if(g_com_map[MODBUS_ID1]==1)
- {
- #ifdef DBGMSG_OUTPUT
- dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
- SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
- }
-
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }
- }
- }else{
- if(g_com_map[MODBUS_ID1]==1)
- {
- #ifdef DBGMSG_OUTPUT
- dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
- SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
+ } else {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+#ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+#endif
+ }
+
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
}
-
- //printf("%x/n",status_reg);
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
}
+ }
+ } else {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+#ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+#endif
+ }
+
+ //printf("%x/n",status_reg);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+}
void Anchor_App(void)
{
-
- u8 send_len,i;
- u16 tempid;
- uint32_t rec_syncid;
-
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+
+ u8 send_len,i;
+ u16 tempid;
+ uint32_t rec_syncid;
+
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
// delay_us(t23);
// HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
status_reg = dwt_read32bitreg(SYS_STATUS_ID);
- if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { uint16_t tag_recv_interval;
- float temp_tagpos;
-
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ { uint16_t 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_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
recpoll_len = frame_len;
- 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
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- if(group_id== rx_buffer[GROUP_ID_IDX])
- {
- switch(rx_buffer[MESSAGE_TYPE_IDX])
- {
- case NEAR_POLL:
+ 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
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id== rx_buffer[GROUP_ID_IDX])
+ {
+ switch(rx_buffer[MESSAGE_TYPE_IDX])
+ {
+ case NEAR_POLL:
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
- rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
memcpy(&uwb_rec_userdata,&rx_buffer[POLL_USERDATA_IDX],16);
- #ifdef USART_ALL_OUTPUT
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
- usart_send[4] = frame_seq_nb2;//数据段长度
- usart_send[5] = battary;
- usart_send[6] = button;
- usart_send[7] = rec_nearbase_num;
- memcpy(&usart_send[8],&tag_id_recv,2);
- memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
- memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
- checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
- memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,12+rec_nearbase_num*4);
- #endif
- 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;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
- tagpos_rec[(uint8_t)temp_tagpos]=1;
-
-
- if(rec_nearbase_num>ancidlist_num)
- {
- ancidlist_num=rec_nearbase_num;
- memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
- }
-
- for(i=0;i<rec_nearbase_num;i++)
- {
- memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)
- {
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
-
-
- break;
- default:
- // poscount++;
- break;
- }
- }
- }else{
- if(g_com_map[MODBUS_ID1]==1)
+#ifdef USART_ALL_OUTPUT
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ usart_send[5] = battary;
+ usart_send[6] = button;
+ usart_send[7] = rec_nearbase_num;
+ memcpy(&usart_send[8],&tag_id_recv,2);
+ memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
+ memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
+ checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
+ memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,12+rec_nearbase_num*4);
+#endif
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
{
- #ifdef DBGMSG_OUTPUT
- dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
- SendDbgMsg(dbgmsg,dbgmsg_len);
- #endif
- }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
- }
- dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);
+ new_tagid=1;
+ } else {
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ tagpos_rec[(uint8_t)temp_tagpos]=1;
+
+
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
+
+ for(i=0; i<rec_nearbase_num; i++)
+ {
+ memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ {
+ seize_anchor=0; //非抢占。已存在列表中
+ Anchor_RecNearPoll(i);
+ break;
+ }
+ }
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1; //抢占anchor
+ Anchor_RecNearPoll(i);
+ }
+
+
+ break;
+ default:
+ // poscount++;
+ break;
+ }
}
+ } else {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+#ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+#endif
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
+
+ }
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);
+}
--
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