V1.72 测试完成

yincheng.zhong

2023-05-06 7ff7ce16ea9febfd11db4ff61e13d112d4b2ba02

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -465,22 +465,19 @@
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                                IWDG_Feed();
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                                        IWDG_Feed();
                                        
                              #ifdef USART_SINGLE_OUTPUT
                              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;
@@ -517,20 +514,16 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                           if(temp_dist!=0x1ffff)
                           {
                              #ifdef USART_SINGLE_OUTPUT
                              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;
@@ -908,6 +901,7 @@
            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)
         {
@@ -1108,29 +1102,29 @@
//            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)
@@ -1156,7 +1150,7 @@
            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