From c8f2474c44c861811c9665352a9a2bcfc81d3cb9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 22 八月 2023 16:47:50 +0800
Subject: [PATCH] 提交缺失文件
---
Src/application/ss_dw_tag_core.c | 924 ++++++++++++++++++++++++++++++++++++++++++++++++++++++
Src/application/dw_sync.c | 93 +++++
2 files changed, 1,017 insertions(+), 0 deletions(-)
diff --git a/Src/application/dw_sync.c b/Src/application/dw_sync.c
new file mode 100644
index 0000000..043d1a1
--- /dev/null
+++ b/Src/application/dw_sync.c
@@ -0,0 +1,93 @@
+#include "dw_app.h"
+int16_t target_offsettime = 850;
+extern u32 synctimer;
+extern u16 tagslotpos;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime,expect_anctime;
+int32_t error_time;
+u16 delaycount;
+extern u16 bigslot_num;
+int16_t poll_offsettime=-6900,clockoffset;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ //tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (target_offsettime-error_time)*0.1;
+ for(pd_i=0; pd_i<tag_frequency; pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ current_slotnum = pd_i;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ return ;
+}
+u16 lpcount,poll_startcount,last_lpcount;
+u16 waketopolltimeus = 3200;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+static u16 current_count;
+void SetLPTimer(u32 anchor_time,u8 nearbase_num)
+{
+
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+
+void NextSlotDelayMs(int16_t delayms)
+{
+ current_slotnum++;
+ if(current_slotnum>=tag_frequency)
+ {
+ current_slotnum = 0;
+ lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+ } else {
+ lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+void WaitUntilPollStart(void)
+{
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<poll_startcount||current_count>poll_startcount+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<poll_startcount-300)
+ {
+ break;
+ }
+ }
+}
\ No newline at end of file
diff --git a/Src/application/ss_dw_tag_core.c b/Src/application/ss_dw_tag_core.c
new file mode 100644
index 0000000..bc7dbbb
--- /dev/null
+++ b/Src/application/ss_dw_tag_core.c
@@ -0,0 +1,924 @@
+
+/*! ----------------------------------------------------------------------------
+ * @file main.c
+ * @brief Double-sided two-way ranging (DS TWR) initiator example code
+ *
+ *
+ *
+ * @attention
+ *
+ * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
+ *
+ * All rights reserved.
+ *
+ * @author Decawave
+ */
+
+#include <string.h>
+#include <math.h>
+#include "dw_app.h"
+#include "deca_device_api.h"
+#include "deca_regs.h"
+#include "dw_driver.h"
+#include "Spi.h"
+#include "led.h"
+#include "serial_at_cmd_app.h"
+#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
+#include <stdio.h>
+#include "beep.h"
+#include "modbus.h"
+#include "BMP390.h"
+/*------------------------------------ Marcos ------------------------------------------*/
+
+/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
+ * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
+#define UUS_TO_DWT_TIME 65536
+
+/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
+/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+#define POLL_TX_TO_RESP_RX_DLY_UUS 10
+/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
+ * frame length of approximately 2.66 ms with above configuration. */
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000
+
+/* Receive response timeout. See NOTE 5 below. */
+#define RESP_RX_TIMEOUT_UUS 4000
+
+#define DELAY_BETWEEN_TWO_FRAME_UUS 240
+
+#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
+/* Receive final timeout. See NOTE 5 below. */
+#define FINAL_RX_TIMEOUT_UUS 4300
+
+
+#define SPEED_OF_LIGHT 299702547
+
+/* Indexes to access some of the fields in the frames defined above. */
+#define FINAL_MSG_POLL_TX_TS_IDX 10
+#define FINAL_MSG_RESP_RX_TS_IDX 14
+#define FINAL_MSG_FINAL_TX_TS_IDX 18
+#define FINAL_MSG_TS_LEN 4
+
+#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_DIST
+enum enumtagstate
+{
+
+ DISCPOLL,
+ REGPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+ SINGLEPOLL,
+} tag_state=STARTPOLL;
+static uint8_t tx_poll_msg[20] = {0};
+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[180] = {0};
+
+static uint32_t frame_seq_nb = 0;
+static uint32_t status_reg = 0;
+static uint8_t rx_buffer[100];
+static uint64_t poll_tx_ts;
+static uint64_t resp_rx_ts;
+static uint64_t final_tx_ts;
+static uint64_t poll_rx_ts;
+static uint64_t resp_tx_ts;
+static uint64_t final_rx_ts;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+uint32_t tag_id = 0;
+uint32_t tag_id_recv = 0;
+uint32_t anc_id_recv = 0;
+uint8_t random_delay_tim = 0;
+double distance, dist_no_bias, dist_cm;
+uint32_t g_UWB_com_interval = 0;
+float dis_after_filter; //当前距离值
+LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
+
+void NextSlotDelayMs(int16_t delayms);
+void GetNearMsg(void);
+void Registor_Poll(void);
+extern void WaitUntilPollStart(void);
+extern void SetLPTimer(u32 anchor_time,u8 nearbase_num);
+static uint64_t get_tx_timestamp_u64(void)
+{
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
+ int i;
+ dwt_readtxtimestamp(ts_tab);
+ for (i = 4; i >= 0; i--)
+ {
+ ts <<= 8;
+ ts |= ts_tab[i];
+ }
+ return ts;
+}
+
+static uint64_t get_rx_timestamp_u64(void)
+{
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
+ int i;
+ dwt_readrxtimestamp(ts_tab);
+ for (i = 4; i >= 0; i--)
+ {
+ ts <<= 8;
+ ts |= ts_tab[i];
+ }
+ return ts;
+}
+
+static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
+{
+ int i;
+ for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+ {
+ ts_field[i] = (uint8_t) ts;
+ ts >>= 8;
+ }
+}
+
+static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
+{
+ int i;
+ *ts = 0;
+ for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+ {
+ *ts += ts_field[i] << (i * 8);
+ }
+}
+
+
+void Dw1000_App_Init(void)
+{
+//g_com_map[DEV_ID] = 0x0b;
+ //tag_state=DISCPOLL;
+ tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+ tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+ tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+
+ memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
+}
+u16 tag_time_recv[TAG_NUM_IN_SYS];
+u8 usart_send[40];
+u8 battary,button;
+extern uint8_t g_pairstart;
+extern uint8_t g_start_send_flag;
+uint16_t g_Resttimer;
+uint8_t result;
+u8 tag_succ_times=0;
+int32_t hex_dist;
+u16 checksum;
+int8_t tag_delaytime;
+extern uint16_t sync_timer;
+u16 tmp_time;
+int32_t temp_dist;
+u16 tagslotpos;
+
+u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
+u16 ancid_list[TAG_NUM_IN_SYS];
+u8 nearbase_num;
+u16 mainbase_id;
+int32_t mainbase_dist,base_mindist;
+uint8_t trygetnearmsg_times,try_reg_times;
+u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
+u8 FindNearBasePos(u16 baseid)
+{
+ u8 i;
+ for(i=0; i<nearbase_num; i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+}
+u8 recbase_num=0;
+#define CHANGE_BASE_THRESHOLD 5
+uint8_t GetRandomValue(void)
+{
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0; i<8; i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
+}
+int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
+u8 anclost_times=0 , mainbase_lost_count=0;
+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=4700,temptimer;
+u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+
+
+#define SINGLEPOLL_BASENUM 5
+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;
+uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
+uint32_t frame_len;
+int32_t salvebase_mindist;
+extern int16_t intheight;
+static uint8_t send_buffer[200];
+
+//#define TAGET_OFFSETTIME 940
+#define MAX_NEARBASE_ANCNUM 11
+u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+u8 outrange_times;
+
+
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
+void GetNearMsg(void)
+{
+ u32 start_poll,frame_len;
+ u8 nearmsg_i=0;
+ NextSlotDelayMs(0);
+ for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
+ {
+ nearbase_distlist[nearmsg_i] = 0x1ffff;
+ }
+//mainbase_id = 0x1;
+ 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] = POS_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
+ WaitUntilPollStart();
+ dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+ NextSlotDelayMs(0);
+ /* 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(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] == POS_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];
+ 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],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ //slottime=ceil((nearbase_num+2)*0.3)+1;
+ //tyncpoll_time=tagslotpos*slottime;
+ //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+ tag_state=NEARPOLL;
+ }
+ } else {
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ }
+}
+void SendHuiZongData(void)
+{
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = frame_seq_nb;
+ usart_send[7] = frame_seq_nb>>8;
+ usart_send[8] = bat_percent;
+ usart_send[9] = tx_near_msg[BUTTON_IDX];
+
+ memcpy(&usart_send[10],&intheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tagslotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = nearbase_num+1;
+ memcpy(&usart_send[17],&mainbase_id,2);
+ memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+ memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+ memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+ memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+ USART_puts(usart_send,27+8*nearbase_num);
+ //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+}
+#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
+#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
+
+// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
+// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.
+
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
+#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
+int32_t test2;
+uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+uint8_t motor_flag;
+uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
+int32_t anc_clockoffset[11];
+int16_t anc_distoffset[11];
+extern uint8_t Pah_HRD_flag_fangchai;
+uint8_t get_newdist,notenoughdist_count;
+void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
+{
+ memcpy(&anc_pollrx[i],pollrx,4);
+ memcpy(&anc_resptx[i],resptx,4);
+ memcpy(&tag_resprx[i],&resprx,4);
+ memcpy(&anc_distoffset[i],distoffset,2);
+ anc_clockoffset[i] = test2;
+}
+float clockOffsetRatio;
+double rtd_init, rtd_resp;
+double tof,distance;
+extern int32_t dwt_readcarrierintegrator(void) ;
+void CalculateDists(void)
+{
+ for(int i=0; i<11; i++)
+ {
+ rec_anc_signalpower[i] = exsistbase_list[i];
+ if(exsistbase_list[i]==KEEP_TIMES)
+ {
+
+ exsistbase_list[i]--;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#else
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#endif
+ rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
+ rtd_resp = anc_resptx[i] - anc_pollrx[i];
+ tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;
+ if(distance>-10&&distance<1000)
+ {
+ nearbase_distlist[i] = distance*100+anc_distoffset[i];
+ } else {
+ nearbase_distlist[i] = 0x1ffff;
+ }
+ } else {
+ nearbase_distlist[i] = 0x1ffff;
+ }
+
+ }
+}
+void DiscPoll2(void)
+{
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid,mindist;
+ static u8 notenoughdist_count=0;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,j,getsync_flag=0,timeout,get_newdist;
+
+ 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;
+ salvebase_mindist=999999;
+ get_newdist = 0;
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ nearbase_num = 10;
+ recbase_num=0;
+
+ tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
+ 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);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+ if(intheight!=0)
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = DISCOVERPOLL2;
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(29+8*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(29+8*nearbase_num, 0);//设置超宽带发送数据长度
+ WaitUntilPollStart();
+ 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
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {
+ end_count-=32768;
+ }
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<end_count||current_count>end_count+15000)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ 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
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+ };
+ 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
+ test2 = dwt_readcarrierintegrator();
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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;
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
+ // recbase_num++;
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ rec_nearbasepos = recbase_num;
+ nearbaseid_list[recbase_num] = rec_nearbaseid;
+ {
+ //rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ temp_dist = nearbase_distlist[rec_nearbasepos];
+ if(frame_len==38)
+ memcpy(&rec_anc_signalpower[rec_nearbasepos],&rx_buffer[ANC_SIGNALPOWER],2);
+
+ nearbase_distlist[rec_nearbasepos]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
+ }
+
+ }
+ else {
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(recbase_num!=nearbase_num+1)
+ {
+ dwt_rxenable(0);
+ }
+ }
+ }
+ }
+ dwt_forcetrxoff();
+ CalculateDists();
+ mindist = 0x1ffff;
+ for(i=0; i<11; i++)
+ {
+ if(mindist>nearbase_distlist[i])
+ {
+ mindist = nearbase_distlist[i];
+ mindist_slavebaseid = nearbaseid_list[i];
+
+ }
+ }
+ mainbase_id = mindist_slavebaseid;
+ try_reg_times = 0;
+ tag_state = REGPOLL;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+}
+void NearPoll(void)
+{
+
+ uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
+ static u8 notenoughdist_count=0;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,j,getsync_flag=0,timeout,get_newdist;
+ // USART_putc(current_slotnum);
+ 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;
+ salvebase_mindist=999999;
+ get_newdist = 0;
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ if(nearbase_num>10)
+ {
+ nearbase_num = 10;
+ }
+ recbase_num=0;
+// motor_state=0;
+ if(motor_state!=0&&motor_state!=3)
+ {
+ motor_flag = 1;
+ } else {
+ motor_flag = 0;
+ }
+
+ tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
+ 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);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+
+
+ if(intheight!=0)
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
+
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(29+8*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(29+8*nearbase_num, 0);//设置超宽带发送数据长度
+ WaitUntilPollStart();
+ 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
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {
+ end_count-=32768;
+ }
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<end_count||current_count>end_count+15000)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ 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
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+ };
+ 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
+ test2 = dwt_readcarrierintegrator();
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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;
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
+ recbase_num++;
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ if(rec_nearbaseid==mainbase_id)
+ {
+ exsistbase_list[0]=KEEP_TIMES;
+ SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+
+ //////////////////////////////////时间同步
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ dwt_forcetrxoff();
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+ if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
+ {
+ para_update = 1;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
+ para_len = frame_len-22;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ }
+ userkey_state = !GET_USERKEY;
+ temp_dist = nearbase_distlist[0];
+ if(temp_dist!=nearbase_distlist[0])
+ {
+ get_newdist++;
+ }
+ mainbase_dist=temp_dist;
+ nearbase_distlist[0] = temp_dist;
+ base_mindist = temp_dist;
+ if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ if(frame_len==38)
+ {
+ memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
+ memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
+ if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
+ {
+ if(outrange_times++>OUTRANGE_RESTARTTIMES)
+ {
+ tag_state = STARTPOLL;
+ }
+ } else {
+ outrange_times = 0;
+ }
+ }
+ mainbase_lost_count=0;
+ flag_finalsend=1;
+ flag_getresponse=1;
+ //时间同步
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1000)
+ {
+ sync_timer=0;
+ }
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ SetLPTimer(ancsync_time,nearbase_num);
+ break;
+ } else {
+
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ SetANCTimestap(rec_nearbasepos+1,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+
+ exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
+ temp_dist = nearbase_distlist[rec_nearbasepos+1];
+ if(frame_len==38)
+ memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
+ memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
+ if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
+ {
+ get_newdist++;
+ }
+ nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
+ {
+ salvebase_mindist = temp_dist;
+ mindist_slavebaseid = rec_nearbaseid;
+ }
+ }
+ }
+ } else {
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(recbase_num!=nearbase_num+1)
+ {
+ dwt_rxenable(0);
+ }
+ }
+ }
+ if(flag_finalsend!=1)
+ {
+ flag_finalsend = 2;
+ }
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+ if(mainbase_lost_count==0)
+ {
+#ifdef SWITCHBASE_DIST
+ if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
+ {
+ changemainbase_count++;
+ if(changemainbase_count>2)
+ {
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
+ }
+ } else {
+ changemainbase_count = 0;
+ }
+#endif
+ } else if(mainbase_lost_count>10)
+ {
+ mainbase_lost_count = 0;
+ tag_state = DISCPOLL;
+ DiscPoll2();
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=5)
+ { NextSlotDelayMs(0);
+ } else {
+ NextSlotDelayMs(0);
+ }
+ }
+ CalculateDists();
+ if(para_update)
+ {
+
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == MOTOR_ONTIME_INDEX)
+ {
+ if(motor_keeptime==0)
+ motor_keeptime = rec_remotepara[3];
+ } else if( pack_index == 2*COM_INTERVAL)
+ {
+ if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ save_com_map_to_flash();
+ tag_frequency = 1000/g_com_map[COM_INTERVAL];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ }
+ }
+ else {
+ if(pack_index<200)
+ {
+ memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+ //返回一个error状态
+ //SendComMap(pack_datalen,pack_index);
+ save_com_map_to_flash();
+ delay_ms(100);
+ NVIC_SystemReset();
+ }
+ }
+ }
+ }
+// if(get_newdist>=2)
+// {
+// notenoughdist_count = 0;
+// }else{
+// if(notenoughdist_count++>10)
+// {
+// notenoughdist_count = 0;
+// tag_state = DISCPOLL;
+// }
+// }
+ for(i=0; i<nearbase_num; i++)
+ {
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
+ }
+ }
+ // SendHuiZongData();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+
+}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ mainbase_lost_count = 0;
+ tag_frequency = REGISTER_FREQUENCY;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ regpoll_count++;
+ if(regpoll_count%2)
+ {
+ if(tagslotpos--<2)
+ tagslotpos=TOTAL_SLOTNUM;
+ }
+ //SetNextPollTime(tagslotpos);
+ NextSlotDelayMs(-2);
+
+ 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[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
+ tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ 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);
+ send_buffer[REGP_BATTARY_INDEX] = bat_percent;
+// 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
+ {
+ 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;
+ tagslotpos = 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);
+ SetLPTimer(ancsync_time,0);
+ mainbase_id=rec_nearbaseid;
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ if(tagslotpos!=255)
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ }
+ }
+ }
+}
+void SwitchTagState(void)
+{
+ switch(tag_state)
+ {
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ if(try_reg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
+ LED_LG_OFF;
+// GetPressAndHeight();
+ break;
+ case DISCPOLL:
+ LED_LG_ON;
+ DiscPoll2();
+ LED_LG_OFF;
+ break;
+ case GETNEARMSG:
+
+ LED_LG_ON;
+ GetNearMsg();
+ LED_LG_OFF;
+ if(trygetnearmsg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
+ break;
+ case NEARPOLL:
+ NearPoll();
+ // GetPressAndHeight();
+ // intheight =Altitude*100;
+ break;
+ case SINGLEPOLL:
+ // Poll();
+ break;
+ }
+}
\ No newline at end of file
--
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