V1.65

zhyinch

2022-07-21 388017aa9902a6b41dbb2adcc7cbd3cd37c38691

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -802,6 +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];
@@ -955,7 +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;
@@ -1059,13 +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)
                  {
@@ -1073,6 +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
@@ -1082,7 +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;