V1.65

zhyinch

2022-07-21 388017aa9902a6b41dbb2adcc7cbd3cd37c38691

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -314,7 +314,7 @@
return max_slotpos-1;
}
u8 test=0;
u8 anclost_times=0;
u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
int32_t rec_extratag_dist;
@@ -330,6 +330,7 @@
    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;
    usartoutput_count = 0;
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
@@ -492,6 +493,7 @@
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif
                           }
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
@@ -563,6 +565,7 @@
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif

                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -699,6 +702,15 @@
//         }else{
//            anclost_times=0;
//         }
        if(usartoutput_count>=2)
        {
            usartoutput_notenough = 0;
        }else{
            if(usartoutput_notenough++>10)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
        }
dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
@@ -790,6 +802,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
   u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -943,7 +956,10 @@
         }else{
            motorstate =0;
         }
			
         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
            {
                tagdist_list[taglist_pos]=0x1ffff;
            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -1047,13 +1063,13 @@
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        //filter_speed = vel_predict[taglist_pos];
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;	
               tagdist_list[taglist_pos] = filter_dist;
               his_dist[taglist_pos]=hex_dist;   
                        if(hex_dist>0)
                  {
@@ -1061,6 +1077,7 @@
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        }
                        tagseq_list[taglist_pos] = frame_seq_nb2;
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -1070,7 +1087,7 @@
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
                                          tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
               tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;