V1.67

zhyinch

2022-02-24 4410c6d09af90006414d442a9b1a9043f5596ed4

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -891,11 +891,8 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
			
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]==0)
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         motorstate =0;
      if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            if(flag_tag_distsmooth[taglist_pos])
            {motorstate =2;
@@ -909,22 +906,21 @@
               }else{
               motorstate =0;
            }
         }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;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         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		
         }else{
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
         tx_nearresp_msg[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		
//         }else{
         dwt_writetxdata(24, tx_nearresp_msg, 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

         
@@ -1016,7 +1012,7 @@
                  {
                            g_Tagdist[taglist_pos]=hex_dist/10;   
                        }else{
                            g_Tagdist[taglist_pos]= 999999;
                            g_Tagdist[taglist_pos]= 0x2ffff;
                        }
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
@@ -1025,7 +1021,7 @@
               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]=999999;
                                tagdist_list[taglist_pos]=0x2ffff;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               usart_send[13] = battary;
               usart_send[14] = button;