yincheng.zhong
2024-01-29 526f2fbdaa4532c5bc0b6dffd7b9b84f784d7fef
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -474,14 +474,10 @@
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);
                              }
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
@@ -524,14 +520,10 @@
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);      
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);
                              }
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
@@ -885,30 +877,39 @@
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         
         
         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);
         }
            if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }
            if(tag_id_recv>>12!=9)
            {
                if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
                {
                    motorstate =0;
                }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
                {
                    motorstate =2;
                }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
                {
                    motorstate =1;
                }else{
                    motorstate =0;
                }
        }else{
                if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE1])
                {
                    motorstate =0;
                }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE2])
                {
                    motorstate =2;
                }else if(tagdist_list[taglist_pos]<g_com_map[RELAY2_DISTANCE3])
                {
                    motorstate =1;
                }else{
                    motorstate =0;
                }
        }
            
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
            remotesend_state = 0;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf);
         if(remotesend_state)
         {
@@ -1109,29 +1110,29 @@
//            Anchor_RecPoll();
//            break;
         case SYNC:               
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
               current_syncid=rec_syncid;
               flag_syncbase=0;
               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
               TIM3->CNT = sync_seq*325%1000+15;
               sync_timer = sync_seq*325/1000;
               synclost_timer=0;
               //SyncPoll(sync_seq,rec_syncid);
               }else if(rec_syncid==current_syncid)
            {
               if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
                  {
                     flag_syncbase=0;
                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                     TIM3->CNT = sync_seq*325%1000+5;
                     sync_timer = sync_seq*325/1000+995;
                     synclost_timer=0;
                     //SyncPoll(sync_seq,rec_syncid);
                  }
            }
//            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
//            if(rec_syncid<current_syncid)
//            {
//               current_syncid=rec_syncid;
//               flag_syncbase=0;
//               sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
//               TIM3->CNT = sync_seq*325%1000+15;
//               sync_timer = sync_seq*325/1000;
//               synclost_timer=0;
//               //SyncPoll(sync_seq,rec_syncid);
//               }else if(rec_syncid==current_syncid)
//            {
//               if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
//                  {
//                     flag_syncbase=0;
//                     sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
//                     TIM3->CNT = sync_seq*325%1000+5;
//                     sync_timer = sync_seq*325/1000+995;
//                     synclost_timer=0;
//                     //SyncPoll(sync_seq,rec_syncid);
//                  }
//
//            }
            break;
         case NEAR_MSG:
            if(anc_id_recv==flag_syncbase)
@@ -1157,7 +1158,7 @@
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #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